Automated stirring and mixing apparatus for cooking

ABSTRACT

The present application discloses an automated cooking apparatus that includes a holder configured to hold a container of food or food ingredients, one or more first kinematic pairs, each comprising a first mating part and a second mating part, wherein the first mating part is connected to the holder; a transport mechanisms that can move the second mating parts of the one or more kinematic pairs; and a driver or controller configured to drive or control the transport mechanism to produce a movement of properly fast speed so that a center point on the internal surface of the container is displaced by properly small distance. The first kinematic pairs and the transport mechanisms in combination can move the holder and the cooking pan to produce fast enough acceleration in the container.

BACKGROUND OF THE INVENTION

The present application relates to automated kitchen equipment, andspecifically to automated method and equipment for stirring, mixing, anddistributing food ingredients during cooking.

Considerable amount of research and experiments have been conducted onthe automation of stirring and mixing of food ingredients duringcooking. The existing solutions include the following three mainapproaches: the first approach utilizes spatula or pedals of differentshapes to stir, mix and turn food ingredients; the second approachsimulates human's stirring actions during cooking; and the thirdapproach uses cooking pans in the shapes of rolling cylinders to turnand mix food ingredients.

The first approach involves complex operations and complicatedmechanisms, and thus has low reliability. Specifically, the stirring wokmechanism disclosed in Chinese Application No. 200710032699.9 teachesthrowing food ingredients in the air for mixing, using a spatula. Suchan approach is easily affected by air movement and sometimes throws foodingredients outside of the wok. In addition to the structuralcomplexity, the stirring operations involve large movements, which usetoo much energy.

The second approach includes simpler operations and practicalmechanisms, but is ineffective in mixing and stirring food ingredients.This approach cannot achieve uniform stirring and mixing obtained by ahuman. One major reason for such poor result is that the movements ofthe spatula can only perform simple rotational movements. In an attemptto overcome this drawback, Chinese Application No. 200610081415.1discloses an automatically stirring wok including rotation of thestirring spatula. The disclosed mechanism is rather complex and oftenbreaks food ingredients.

The third approach utilizes a rolling cylinder as a cooking pan (similarto a front load cloth dryer). When the cylinder is rotated, the foodingredients are brought up, and then fall freely pulled down by gravity,which stirs, mixes and turns the food ingredients contained in therolling cylinder. This approach is simple and mechanism reliable, but itrequires a large amount of cooking oil to coat the whole surface of thecylinder to prevent food sticking to and burning at the internalsurfaces. Moreover, such mechanism is also not effective in heating thefood ingredients. Lots of energy is dissipated in the rotationalcylinder wall. Specifically, Chinese Application No. 200720019984.3teaches a rotating-cylinder based cook device. The axis of the cylinderis positioned horizontally. The device is energy inefficient.

Another drawback of existing mixing and stirring systems is that theytend to move food ingredients to a particular side of the cooking pan,which produces scattered and unbalanced distribution in the foodingredients. In some cases, food ingredients may be pushed out of thecooking pan. The spatula in some conventional cooking systems rotatesaround an axis vertical a round cooking pan. The spatula can push foodingredients into an unbalanced distribution, with some areas havingthicker food ingredients accumulation than other areas.

There is therefore a need for effective and efficient automatedapparatus that provide stirring and mixing food ingredients duringcooking, and can provide making and maintaining a balanced distributionof food ingredients in the cooking pan.

SUMMARY OF THE INVENTION

The present application discloses a cooking apparatus capable ofautomated stirring and mixing of food ingredients, which overcomes thedrawbacks in the conventional cooking devices. The disclosed automatedcooking apparatus is more effective in stirring and mixing feedingredients, and is energy efficient. The stirring mechanisms andoperations of the disclosed automated cooking apparatus are simpler andmore reliable. The disclosed automated cooking apparatus can achievemore effective and uniform stirring and mixing during cooking withoutbreaking food ingredients. In addition, the present disclosed apparatushas the advantage of producing and maintaining a balanced distributionin the food ingredients in the cooking pan.

In one general aspect, the present invention relates to an automatedcooking apparatus that includes a holder that can hold a cooking pan,one or more first kinematic pairs each comprising a first mating partand a second mating part, wherein the first mating part is connected tothe holder, a transport mechanisms that can move the second mating partsof the one or more kinematic pairs, wherein the first kinematic pair andthe transport mechanisms in combination can move the holder and thecooking pan.

Implementations of the system may include one or more of the following.the first kinematic pair comprises a turning pair. The first kinematicpair can include a sliding pair. The first kinematic pair can include auniversal joint. The first mating parts of the one or more firstkinematic pairs can be connected to the holder via elastic or non-rigidconnectors. The transport mechanism can move the second mating part of afirst kinematic pair in a circular or rotational movement. The automatedcooking apparatus can further include an adjustment mechanism configuredto adjust the radius of the circular movement of the second mating partof a first kinematic pair. The transport mechanism can move the secondmating part of a first kinematic pair in a linear, planar, or sphericalmovement. The transport mechanism is configured to move the secondmating part of the first kinematic pair along a hypocycloid, anepicycloid. The automated cooking apparatus can further include two ormore first kinematic pairs and respective transport mechanisms; and atransmission or linkage mechanism configured to link the two or moretransport mechanisms so their produced movements are mechanicallylinked. The automated cooking apparatus can further include a poweredmechanism configured to move the first mating part of the firstkinematic pair relative to the second mating part and a computerconfigured to control the powered mechanism. The powered mechanism canmove the first mating part of the first kinematic pair by oscillationsrelative to the second mating part. The automated cooking apparatus canfurther include a transmission or linkage mechanism that can link thepowered mechanism and the transport mechanism so to link their producedmovements produced by the powered mechanism and the transport mechanismare mechanically linked. The automated cooking apparatus can furtherinclude a stabilization mechanism configured to constrain the movementsof one or more parts of the holder or one or more objects connected withthe holder, wherein the first kinematic pair and the transport mechanismare configured to move the holder while the holder is constrained by thestabilization mechanism. The automated cooking apparatus can furtherinclude a computer or an adjustment mechanism that together with thedriver or controller are configured to dynamically adjust thedirections, speeds and frequencies of the cyclic or oscillatorymovements produced by the transport mechanism.

In another general aspect, the present invention relates to automatedcooking apparatus that includes a holder configured to hold a cookingpan; a transport mechanism configured to produce a force on a part ofthe holder or an object rigidly or elastically or loosely connected tothe holder; and a driver or controller configured to control thetransport mechanism as to produce a sum of cyclic or oscillatory forceson the holder or on the object connected to the holder, wherein theforces by the transport mechanism are configured to move the holder orthe object connected to the holder, to produce accelerations in theholder and the cooking pan to stir, mix, and distribute the foodingredients contained in the cooking pan.

In another general aspect, the present invention relates to automatedcooking apparatus that includes a cooking pan configured to hold foodingredients; a holder configured to hold the cooking pan; and atransport mechanism that produces a combination of an oscillatorymovement and another movement in the holder, as to stir, mix anddistribute the food ingredients.

In another general aspect, the present invention relates to automatedcooking apparatus that includes a cooking pan configured to hold foodingredients; a holder configured to hold the cooking pan; and avibration mechanism configured to produce vibrations in the cooking panas to move the food ingredients in a helical pattern.

The presently disclosed automated cooking apparatus includes a cookingpan that can hold food ingredients for cooking; and a transportmechanism that can produce movements in the cooking pan with a fastchange of moving directions, resulting in a fast acceleration for thecooking pan. This induces a relative movement between thenon-accelerated food ingredients and the accelerated cooking pan, andthe cooking pan's internal surface can obstruct the relative movement ofthe food ingredients by friction or other forces. The movement of thefood ingredients relative to the cooking pan, together with theobstruction forces by the cooking pan's internal surface and otherforces, can produce stirring and mixing in the food ingredients.Moreover, the movements of the food ingredients may make and maintain aconsistent, balanced pattern in the distribution of food ingredients inthe cooking pan. The disclosed transport mechanism is special in thatthe cooking pan can only be displaced by a small distance from itsoriginal position in the movement. Thus the cooking pan can still beheated by a stove or other heating source when the food ingredients arestirred, mixed and turned. Examples of the movements include: circularmovement of relatively small radius, linear or rotational oscillationsof small displacements or the composition of two oscillations of smalldisplacements, or vibrations that are capable of producing a movementpattern.

These and other aspects, their implementations and other features aredescribed in detail in the drawings, the description and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a schematic view of an automated cooking apparatus that canproduce cyclic movements in a cooking pan in accordance to the presentinvention.

FIG. 2 shows a schematic view of an automated cooking apparatus that canproduce spherical cyclic movements in a cooking pan.

FIGS. 3A-3B respectively show top and side views of an automated cookingapparatus that can produce rotational oscillatory movement in a cookingpan.

FIG. 4 shows an automated cooking apparatus that can produce linearoscillatory movement in a cooking pan.

FIG. 5A shows a side view of another automated cooking apparatus thatcan produce hypocycloidal movements in a cooking pan. FIG. 5B shows anexemplified movement path for the cooking pan produced by the automatedcooking apparatus in FIG. 5A.

FIG. 6A shows a side view of another automated cooking apparatus thatcan produce epicycloidal movements in a cooking pan. FIG. 6B shows anexemplified movement path for the cooking pan produced by the automatedcooking apparatus in FIG. 6A.

FIGS. 7A-7B respectively show top and side views of another automatedcooking apparatus that can produce cyclic movements in a cooking pan.

FIGS. 8A-8B respectively show top and side views of anotherimplementation of an automated cooking apparatus that can produce adifferent cyclic movement in a cooking pan.

FIGS. 9A-9B respectively show top and side views of anotherimplementation of an automated cooking apparatus that can produce adifferent cyclic movement in a cooking pan. FIGS. 9C-9G show detailedperspective views of the automated cooking apparatus in FIGS. 9A-9B.

FIGS. 10A-10B respectively show top and side views of another automatedcooking apparatus which includes mechanisms to produce controlled cyclicmovements in a cooking pan. FIG. 10C-10E are perspective views ofcomponents in the automated cooking apparatus shown in FIG. 10A-10B.

FIG. 11 shows an automated cooking apparatus in which a cooking pan ismoved by a spherical mechanism.

FIG. 12 shows another automated cooking apparatus in which a cooking panis moved by a spherical mechanism.

FIG. 13A-13B respectively show top and side views of another automatedcooking apparatus that can produce a different cyclic movement in acooking pan.

FIG. 14 shows another automated cooking apparatus including a mechanismfor vibrating the cooking pan.

FIG. 15A shows an automated cooking apparatus that can produce circularmovements with no self-rotation in a cooking pan. FIGS. 15B-15D areperspective views of components in the automated cooking apparatus shownin FIG. 15A.

FIG. 16 shows an automated cooking apparatus similar to that in FIG.15A.

FIGS. 17A-17B respectively show top and side views of another automatedcooking apparatus that can produce a cyclic movement in a cooking pan.

FIG. 18 shows a side view of an automated cooking apparatus that canproduce a combination of oscillatory movements and a controlledself-rotation in a cooking pan.

FIGS. 19A-19B respectively show top and side views of another automatedcooking apparatus that can produce a combination of oscillatorymovements and a controlled self-rotation in a cooking pan, where theamplitude of the oscillation may be further adjusted.

FIG. 20 shows a side view of an automated cooking apparatus that canproduce linear oscillations in a cooking pan.

FIG. 21 shows a side view of an automated cooking apparatus that canproduce linear oscillations in a cooking pan where amplitude of theoscillations can be adjusted.

FIG. 22 shows a side view of an automated cooking apparatus that canproduce rotational oscillations in a cooking pan.

FIGS. 23A-23B respectively show top and side views of an automatedcooking apparatus that can produce rotational oscillations in a cookingpan where amplitude of the oscillations can be adjusted.

FIGS. 24A-24B respectively show top and aerial views of an automatedcooking apparatus that can move a cooking pan by a composition of twooscillations.

FIGS. 25A-25B respectively show top and aerial views of anotherautomated cooking apparatus that can move the cooking pan by acomposition of two oscillations.

FIG. 26 shows an aerial view of an automated cooking apparatus ofanother automated cooking apparatus that can move the cooking pan by acomposition of two oscillations; where the two oscillation mechanismsare mechanically linked.

FIG. 27A shows a top view of an automated cooking apparatus that canproduce a composition of two linear oscillations along X and Y axes in acooking pan. FIG. 27B shows exemplified movement paths for the cookingpan produced by the automated cooking apparatus in FIG. 27A.

FIG. 28 shows an aerial view of a cooking apparatus 1600A with astabilization mechanism which limits a cooking pan's movement.

FIG. 29 shows an implementation of a cooking apparatus 1600B that canmake a cyclic movement in a cooking pan.

FIG. 30 shows an implementation of a cooking apparatus 1600C in which acontrolled magnetic field can move a cooking pan.

FIG. 31 shows an implementation of a cooking apparatus 1600D in which acontrolled fluid flow can move a cooking pan.

FIG. 32A shows an aerial view of an automated cooking apparatus that canmake a circular movement in a cooking pan where the amplitude of thecircular movement can be adjusted. FIG. 32B displays details of a partof the cooking apparatus in FIG. 32A.

FIGS. 33A-33B respectively show top and side views of an automatedcooking apparatus in where three magnetic oscillators produce a threedimensional movement in a cooking pan.

FIG. 34 shows an automated cooking apparatus in which three controlledmagnetic fields can move a cooking pan.

FIG. 35 shows another automated cooking apparatus in which somecontrolled magnetic fields can move a cooking pan.

FIGS. 36A-36B respectively show top and side views of another automatedcooking apparatus that can produce a composition of two linearoscillations along X and Y axes in a cooking pan.

FIG. 37 shows an automated cooking apparatus in which can produce acombination of circular movement and vibrations in a cooking pan.

FIG. 38A illustrates an automated cooking apparatus comprising a rotaryvibration mechanism near the center of the cooking pan. FIG. 38Bdisplays exemplified movement paths of the food ingredients when thecooking pan is vibrated by the mechanisms in FIG. 36A.

FIG. 39 shows an automated cooking apparatus with a rotary vibrationmechanism similar to that in FIG. 38A.

FIG. 40A-40B respectively show top and side views of an automatedcooking apparatus comprising some vibration mechanisms mounted on theside wall of the cooking pan.

DETAILED DESCRIPTION OF THE INVENTION

The present application discloses a cooking apparatus that canautomatically stir, mix, and distribute of food ingredients, whileovercoming the drawbacks in the conventional cooking devices. Thedisclosed cooking apparatus includes a cooking pan and a transportmechanism that can produce particularly designed movements andaccelerations in the cooking pan to stir, mix or turn the foodingredients.

In some embodiments, referring to FIG. 1, an automated cooking apparatus100A includes a cooking pan 109, and a holder 191 which carries thecooking pan 109. A turning pair 110, as a first kinematic pair, includesa shaft 111 and a sleeve 112 as mating parts. The sleeve 112 isconnected with the holder 191. A transport mechanism 139 includes amotor 132 with a shaft 131, and a rigid connector 133 that connects theshafts 111 and 131. The motor 132 is mounted on a support frame 192. Acomputer 199 controls the motor 132. The motor 132 can produce acircular movement of the shaft 111 and the sleeve 112 relative to thesupport frame 192. The shafts 111 and 131 are aligned parallel to eachother. The radius of circular movement of the mechanism 139, equal tothe distance between the axes of the shafts 111 and 131, is designed tobe properly small. A heater 107 is mounted on the support frame 192below the cooking pan 109. The heater 107 may be rotationally symmetricaround the shaft 131 for the best heating result, although this is not arequirement. The circular movement of the shaft 111 together with theturning pair 110 produces movements of the cooking pan. The point of theinternal surface of the cooking pan intersected with the axis of theshaft 111 can be a center point on the cooking pan. The center point isdisplaced by a properly small distance at all times (equal to double thedistance between the axes of the shafts 111 and 131). The inclination ofany axis of the cooking pan is changed by a small enough angle. In fact,(without counting the effects of vibrations) the inclination of any axisof the cooking pan does not change if the axes of the shafts 111 and 131are designed to be vertical. Except a self-rotation around the turningpair 110, the cooking pan as a whole body is displaced relative to thesupport frame (or relative to the heater) by a properly small distanceand by a small inclination change at all times, so the food ingredientscontained in the cooking pan can be heated by the heater while thecooking pan is moved.

In the present application, the term “turning pair” refers to arotational mechanism that includes two mating parts and a connectionwhich constrains the relative movement of the two mating parts to arotation. A mating part in a turning pair may consist of one or moreseparate pieces. Examples of turning pairs are: hinge joint with a shaftin a sleeve; hinge joint with two segmented sleeves; a shaft and ahandle on the shaft, etc. The term “kinematic pair” refers to amechanism that includes two mating parts and a connection which imposesconstraints on the relative movement of the mating parts. A mating partin a kinematic pair may consist of one or more separate pieces.

In some embodiments, referring to FIG. 2, an automated cooking apparatus100B includes a cooking pan 108, and a holder 193 which carries aspherically shaped (or partially spherically shaped) cooking pan 108. Afirst turning pair 113, as a first kinematic pair, includes a shaft 114and a sleeve 115 as mating parts. The sleeve 115 is connected with theholder 193. A transport mechanism 138 includes a motor 132 with shaft131, and a rigid connector 136 that connects the shafts 131 and 114. Themotor 132 is mounted on a support frame 194. A computer (not shown)controls the motor that can produce a circular movement of the shaft 114and the sleeve 115 relative to the support frame 194. The shaft 114 andthe shaft 131 are aligned at an oblique angle α (i.e. not parallel)relative to each other. The axes of shafts 114 and 131 meet at a centerpoint 650, which is approximately at the spherical center of thespherical shaped cooking pan. The angle of circular movement of themechanism 138, equal to the angle α between the axes of the shafts 114and 131, is designed to be properly small. A heater 106, mounted on thesupport frame 194, lies below the cooking pan 108. The point of theinternal surface of the cooking pan intersected with the axis of theshaft 114 can be a center point on the cooking pan. Since the angle ofthe circular movement is properly small, the center point is displacedby a properly small distance at all times. The inclination of any axisof the cooking pan is changed by a small angle. Except a self-rotationaround the turning pair 113, the cooking pan as a whole is onlydisplaced by a small distance and by a small inclination change at alltimes, and the food ingredients contained in the cooking pan may beheated by the heater while the cooking pan is moved.

It should be noted that the holders 191, 193 in FIGS. 1 and 2 canrespectively hold the cooking pan 109, 108 in different ways duringcooking. For example, the cooking pan can fixed to the holder by amechanism (clamps, screws, etc.) or by a magnet.

In some embodiments, referring to FIGS. 3A and 3B, an automated cookingapparatus 100C includes a cooking pan 109, and a holder 291 whichcarries the cooking pan 109. A first turning pair, as a first kinematicpair, includes a shaft 211 and a sleeve 212 as mating parts. The shaft211 is connected with the holder 291, and the sleeve 212 is rigidlyconnected to a rod 142. The rod 142 may be freely rotated around a shaft141 of a turning pair 140, with the shaft 141 rigidly connected with asupport frame 195. A rigid connector 144 joins two shafts 143 and 145 oftwo turning pairs where the sleeve of the shaft 143 is rigidly connectedwith the rod 142. Another rigid connector 146 joins the sleeve of theshaft 145 to the shaft 147 of a motor 149 which is mounted on thesupport frame 195. The shafts 141, 143, 145 and 147 have parallel axes;and the distance between the axes of the shafts 145 and 143 is longerthan the distance between the axes of the shafts 145 and 147. The motor149 can produce a circular movement in the shaft 145 around the shaft147, and can result in a rotational oscillation of the shaft 143 andhence of the rod 142 around the turning pair 140. Thus the shaft 211makes a rotational oscillatory movement around the turning pair 140. Itshould be noted that the parallel shafts 141, 143, 145 and 147 may ormay not be parallel to the shaft 211. The magnitudes of the rotationaloscillation are designed to be properly small, by adjusting the distancebetween the axes of the shafts 145 and 147. Then the point of theinternal surface of the cooking pan intersected with the axis of theshaft 211 can be a center point on the cooking pan. The center point isonly displaced by a properly small distance at all times. In additionthe inclination of any axis of the cooking pan is changed by a smallenough angle. Except a self-rotation around the axis of the shaft 211,the cooking pan as a whole is displaced by a small distance and by asmall inclination change during the movements.

In some embodiments, referring to FIG. 4, an automated cooking apparatus100D includes a cooking pan 109, and a holder 291 which carries thecooking pan 109. A first turning pair, as a first kinematic pair,includes a shaft 211 and a sleeve 212 as mating parts, where the shaft211 is connected with the holder 291. The sleeve 212 is rigidlyconnected with a shaft 151 of a sliding pair 150 whose sleeve 152 isrigidly connected to a support frame 196. A rigid connector 156 joins arigid extension 154 of the shaft 151 via a turning pair 155 at one end;and joins one end of an another rigid connector 158 via a turning pair157 at the other end; where each turning pair consists of a shaft in asleeve (not shown). The other end of the connector 158 is rigidly joinedwith the shaft 159 of a motor 153 that is mounted on the support frame196. The turning pairs 155, 157 and the shaft 159 have parallel axesthat are perpendicular to the axis of the sliding shaft 151; and thedistance between the axes of the turning pairs 157 and 155 is longerthan the distance between the axes of the turning pair 157 and the shaft159. A motor can produce a circular movement of the turning pair 157,resulting in a linear oscillation of the extension 154 and hence of thesleeve 212. The magnitudes of the linear oscillation are designed to beproperly small, by adjusting the distance between the axes of the shafts157 and 159. The point of the internal surface of the cooking panintersected with the axis of the shaft 211 can be a center point of thecooking pan. The center point is only displaced by a properly smalldistance at all times. In addition the inclination of any axis of thecooking pan is changed by a small enough angle. Except a self-rotationaround the axis of the shaft 211, the cooking pan as a whole isdisplaced by a small distance and by a small inclination change duringthe movements.

In some embodiments, referring to FIG. 5A, an automated cookingapparatus 100E includes a cooking pan 109, and a holder 191 whichcarries the cooking pan 109. A first turning pair, as a first kinematicpair, includes a shaft 111 and a sleeve 112 as mating parts. The sleeve112 is connected with the holder 191. The shaft 111 is rigidly connectedwith a gear 163 with cogs 164. The sleeve of a shaft 165 in a turningpair is mounted at the center below the gear 163 so the shaft 165 andthe gear 163 have a same axis. A rigid connector joins the shaft 165 tothe shaft 168 of a motor 167 which is mounted on a support frame 197. Aninternal gear 161 with cogs 162 is mounted on the support frame 197. Theaxis of the internal gear 161 is the same as the axis of the shaft 168;and the cogs 164 and the cogs 162 are engaged. The shafts 111, 165, 168and both gears have parallel axes. As the motor rotates continuously,the shaft 111 moves along a hypocycloid. FIG. 5B shows an exemplifiedmovement path 168 of the shaft 111. The magnitudes of the hypocycloidalmovement of the shaft 111 can be designed to be properly small, byadjusting the distance between the axes of the shafts 165 and 168 aswell as the position of the shaft 111 on the gear 163. The point of theinternal surface of the cooking pan intersected with the axis of theshaft 111 can be a center point on the cooking pan. The center point isonly displaced by a properly small distance at all times. In additionthe inclination of any axis of the cooking pan is changed by a smallangle. Except a self-rotation around the shaft 111, the cooking pan as awhole is displaced by a small distance and by a small inclination changeduring the movements.

In some embodiments, referring to FIG. 6A, an automated cookingapparatus 100F includes a cooking pan 109, and a holder 191 whichcarries the cooking pan 109. A first turning pair, as a first kinematicpair, includes a shaft 111 and a sleeve 112 as mating parts. The sleeve112 is connected with the holder 191. The shaft 111 is rigidly mountedon a gear 173 with cogs 174. A turning pair consisting of a shaft 175and a sleeve is mounted at the center below the gear 173, so the sleeveof the shaft 175 is rigidly connected with the gear 173, and that theaxis of the gear 173 and the axis of the shaft 175 are identical. Arigid connector 176 rigidly connects the shaft 175 and the sleeve 178 ofa shaft 177 in a turning pair. A gear 181 is rigidly connected with, andis concentric with the sleeve 178. The shaft 177 is mounted on a supportframe 198, and a gear 172 with cogs 172 is mounted at the top end of theshaft 177 so that the gear 172 and the shaft 177 have identical axis. Amotor 184 is mounted on the support frame 198, and another gear 182 ismounted at the top of the shaft 183 of the motor. The gear 182 and theshaft 183 have a same axis. The gears 171 and 173 are engaged. The gears181 and 182 are engaged. The shafts 111, 175,177, 183 and all four gearshave parallel axes. As the motor rotates the gear 182, the gear 181 andhence the sleeve 178 rotates around the shaft 177, thus producing acircular movement in the shaft 175 and in 173 around the shaft 177.Since the gear 171 is rigidly connected with the support frame 198, thegear 173 makes a self-rotation relative to the shaft 175 while in acircular movement around the axis of the shaft 177. The shaft 111 movesalong an epicycloid. FIG. 6B shows an exemplified movement path 178 ofthe shaft 111. The magnitudes of the epicycloidal movement of the shaft111 can be designed to be properly small, by adjusting the distancebetween the axes of the shafts 175 and 177 as well as the position ofthe shaft 111 on the gear 173. The point of the internal surface of thecooking pan intersected with the axis of the shaft 111 can be a centerpoint on the cooking pan. The center point is only displaced by aproperly small distance at all times. In addition the inclination of anyaxis of the cooking pan is changed by a small angle. Except aself-rotation around the shaft 111, the cooking pan as a whole isdisplaced by a small distance and by a small inclination change duringthe movements.

The transport mechanism in FIG. 3A-3B, 5A or 6A moves the shaft 111 in aplanar movement path. Each one of the three transport mechanisms can bemodified so the axes of all shafts and gears point to a center point(comparable with point 650 in FIG. 2). Then the shaft 111 can move alonga spherical movement path. The same comment can be applied to many ofthe automated cooking apparatus in the subsequent figures.

It should be noted that the transport mechanisms moving the shaft 111 or211 in FIGS. 1-5A, 6A can be implemented by mechanisms producing otherthan rotational, oscillatory, hypocycloidal or epicycloidal motions.Broadly, the transport mechanism can be any transport mechanism that iscapable of frequent change of moving directions. The first turning pair110 can include a sleeve and a shaft as descried above, but can alsoinclude a ball and a cap (or sleeve), as well as other kinematic pairs.

It should be noted that in the cooking apparatus shown in FIGS. 1-5A,6A, the cooking pan can have a self-rotation, i.e., a rotation aroundthe first turning pair. The self-rotations can pick up speed as theshaft is moved by the respective transport mechanism. The motor drivingthe transport mechanism needs to rotate alternatively in both directionsto limit the speed of self-rotation of the cooking pan. In FIGS. 7A-16Dbelow, different mechanisms are disclosed to either constrain oractively control the self-rotations of the cooking pan.

It should be noted that in the cooking apparatus shown in FIG. 1-5A, or6A, the center point of the internal surface of the cooking panintersected with the axis of the first turning pair is a center point ofthe cooking pan with respect to the cooking pan's self-rotation. It ispossible but not required for the axis of the first turning pair to be acentral axis of the cooking pan in a geometric or other sense.

In some embodiments, referring to FIGS. 7A and 7B, an automated cookingapparatus 200 includes a cooking pan 109, and a holder 291 which carriesthe cooking pan 109. A first turning pair 210, as a first kinematicpair, includes a shaft 211 and a sleeve 212 as mating parts. The shaft211 is connected with the holder 291. A transport mechanism 239 includesa motor 232 with a shaft 231, a rigid connector 233 that rigidlyconnects the shaft 231 and the sleeve 212. The motor 232 is mounted on asupport frame 292. A computer 199 controls the motor 232. Astabilization mechanism 249 includes a second turning pair 220, as asecond kinematic pair, with a shaft 221 and a sleeve 222 where thesleeve 222 is connected to the holder 291, a third turning pair (as athird kinematic pair) with a shaft 241 and a sleeve 242, and a connector243 that connects the shafts 221 and 241. The sleeve 242 is mounted onthe support frame 292. The transport mechanism 239 can produce acircular movement in the sleeve 212, along with the shaft 211, theholder 291 and the cooking pan 109. The mechanism 249 allows the shaft221 to move in a circular movement around the shaft 241. The four shafts211, 221, 231 and 241 are aligned substantially parallel to each other.The radius of circular movement of the transport mechanism 239 is thedistance between the axes of the shafts 211 and 231. The radius ofcircular movement of the mechanism 249 is the distance between the axesof the shafts 221 and 241. The radius of circular movement of thetransport mechanism 239 can be designed to be smaller than the radius ofcircular movement of the stabilization mechanism 249. The movement pathof the shaft 221 is only an arc of a circle, instead of a full circlearound the shaft 241. The stabilization mechanism is used to constrainthe rotation of the holder and the cooking pan around the sleeve 212.The radius of circular movement of the transport mechanism 239 isdesigned to be properly small by adjusting the distance between the axesof the shafts 211 and 231, so any point of the cooking pan is onlydisplaced by a properly small distance. The inclination of any axis ofthe cooking pan is changed by a small enough angle. (In fact, theinclination of any axis of the cooking pan does not change if the axesof the shafts 211, 231, 221 and 241 are designed to be vertical.) Inparticular, the cooking pan as a whole is displaced by a small distanceand by a small inclination change at all times, so the food ingredientscontained in the cooking pan can be heated by the heater while thecooking pan is moved. On the other hand, the rotation speed of the motor232 can be properly large, as to produce a properly large accelerationin the movement of any point on the internal surface of the cooking pan.

It should be noted that the apparatus 200 may be modified so that thedistance between the shafts 211 and 231 is the same as the distancebetween the shafts 221 and 241. That is, the radii of the circularmovements in the mechanisms 239 and 249 are identical. Then the circularmovement of the mechanism 249 can be either synchronous with thecircular movement of the transport mechanism 239, or in oppositedirection to the circular movement of the transport mechanism 239. Ineither case, the mechanism 249 can be powered and thus becomes anothertransport mechanism (and the turning pair 220 becomes another firstkinematic pair). The movement of 221 by the transport mechanism 249 mustbe strictly coordinated with the movement of 212 by the transportmechanism 239 so that the distance between the axes of the shafts 212and 222 is kept unchanged. It should be noted that the two transportmechanisms 239 and 249 can be linked by a transmission or linkagemechanisms such as a gear transmission system or a crank rod, so bothtransport mechanisms are driven by a same motor.

In some embodiments, referring to FIGS. 8A and 8B, an automated cookingapparatus 300 includes a cooking pan 109 which is rigidly or otherwiseconnected to a holder 391. A first turning pair (as a first kinematicpair) 310 includes a shaft 311 and a sleeve 312 as mating parts. Thesleeve 312 is connected with the holder 391. A transport mechanism 339includes a motor 332 mounted on a support frame 392, and a rigidconnector 333 that connects the shaft 331 of the motor 332 and the shaft311. The motor 332 can produce a circular movement in the shaft 311relative to the support frame 392. A stabilization mechanism 359includes a sliding pair 320, as a second kinematic pair, with a slidingshaft 321 and a sleeve 322 where the shaft 321 is rigidly joined withthe holder 391, a turning pair (as a third kinematic pair) with a shaft351 whose sleeve 352 is mounted on the support frame 392, and aconnector joining the shaft 351 with the sleeve 322. The axes of theshafts 321 and 351 are perpendicular to each other, and the axes of theshafts 331 and 351 are parallel to each other. The stabilizationmechanism 359 constrains the movements of the sleeve 322 to a rotationaround the shaft 351, constraining the linear direction of the shaft 321to an oscillation, and thus limiting the rotation of the holder 391 andthe sleeve 312 around the shaft 311, while the transport mechanism 339produces a circular movement of the shaft 311 around the shaft 331. Theradius of circular movement of the transport mechanism 339 is designedto be properly small by adjusting the distance between the axes of theshafts 311 and 331. The cooking pan as a whole is displaced by a smalldistance and by small inclination change. On the other hand, therotation speed of the motor 332 can be properly large, as to produce aproperly large acceleration in the movement of any point on the internalsurface of the cooking pan.

In some embodiments, referring to FIGS. 9A and 9B, an automated cookingapparatus 400 includes a cooking pan 109, a holder 491 which carries thecooking pan 109. A first turning pair 410, as a first kinematic pair,has a shaft 411 and a sleeve 412 as mating parts. The sleeve 412 isjoined with the holder 491. A transport mechanism 439 includes a shaft431 in a sleeve 432, a rigid connector 433 joining the shafts 431 and411, and a motor (not shown in figure) which drives the rotation ofshaft 431 around its axis. The sleeve 432 is mounted on a support frame492. A stabilization mechanism 469 consists of a pair of rotatablelocating bearings 461 mounted on the support frame 492. The bearings 461loosely constrain a section 462 of the holder 491 to slideback-and-forth and between the bearings 461. The radius of circularmovement of the transport mechanism 439 is designed to be properly smallby adjusting the distance between the axes of the shafts 411 and 431.The cooking pan as a whole is displayed by a small distance and by asmall inclination change. On the other hand, the rotation speed of themotor driving the rotation of the shaft 431 can be properly large, as toproduce a properly large acceleration in the movement of any point onthe internal surface of the cooking pan.

FIGS. 9C-9G display details of an exemplified mechanical implementation401 of the automated cooking apparatus 400. Referring to FIG. 9C, theholder 491 has a top part in the shape of a ring which holds the cookingpan 109, and a lower part which is rigidly joined with the top of thesleeve 412 of the shaft 411. The shaft 411 and the shaft 431 (andconnector 433) are one piece. The sleeve 432 of the shaft 431 is rigidlyjoined with the support frame 492. Bearings 318 are placed between theshaft 411 and the sleeve 412. The bearings 438 are placed between theshaft 431 and the sleeve 432. A motor 450 is mounted on the supportframe 492 and drives the axial rotation of the shaft 431 through a belt455 enveloping a belt wheel 436 on shaft 431 and a belt wheel 456 on theshaft of the motor 450 (FIG. 9E). The bearings 461 are used to looselylimit the movement of a vertical plate 462 which is a rigid part of theholder 491. In addition, a stove 407 (FIG. 9C) is mounted on anoverhanging plate 495 which is rigidly fixed to the support frame 492(FIG. 9G).

In some embodiments, referring to FIGS. 10A and 10B, an automatedcooking apparatus 500 includes similar components as automated cookingapparatus 400 (FIGS. 9A and 9B) except for the transport mechanism 439includes an adjustable connector 537, instead of a rigid connector,which connects the shaft 411 and the shaft 431. The angle of the twosegments of the adjustable connector 537 at a hinge joint 538 can bechanged by a controlled rotating motor, and thus the distance betweenthe center of the shaft 411 and the center of the shaft 431 can becontrolled. In other words, the radius of the circular movement of thetransport mechanism 439 can be controlled. An advantage of this designis that the amplitude of the cyclic movement of the cooking pan 109 canbe varied based on the type of food ingredients being cooked and alsobased on time in the cooking process. Movements with smaller amplitudescan be used for food ingredients that are easily broken so the shape andappearance of the food ingredients can be preserved during cooking. Forfood ingredients that are not easily broken, they can be more vigorouslystirred, mixed, and aerated by selecting high amplitude. Moreover, byreducing the distance between the centers of the shafts 411 and 431 tozero, it can bring the axis of the shaft 411 (which can coincide withthe axis of the cooking pan 109) to a predetermined position no matterhow many angular degrees the shaft 431 has rotated around its axis.

In the cooking apparatus 500 in FIG. 10A-10B, a computer together withdrivers may be used to control the directions and speeds of the motorthat produces a rotation of the shaft 431 (around its own axis) in thetransport mechanism, and to control the motor powering the rotation ofthe connectors 537 around the hinge joint 538 as to adjust the radius ofthe circular movement of the shaft 411 produced by the transportmechanism. Both motors may rotate simultaneously, and the movement pathsof a point of the shaft may not be a closed path. In fact, the axis ofthe shaft 411 can make a planar movement whose movement path can be anopen curve.

For the present patent application, a point is said to move by acomposition of oscillatory movements, if the X, Y and Z coordinates ofthe point (in a three dimensional orthonormal coordinate system,relative to a support frame), if moved, is moved in oscillation. Thefrequency of the sign change in the velocity of a coordinate of thepoint defines a frequency in the combination of oscillatory movements. Acomposition of oscillatory movements may have more than one frequency.Moreover, the magnitudes and frequencies in a composition ofoscillations may be variable over time. The movement of a body is acomposition of oscillatory movements, if any point marked on the bodymoves by a composition of oscillatory movements. In this sense, thetransport mechanism in the cooking apparatus 500 produces a combinationof oscillations in the shaft 411.

In some embodiments, the radius of circular movement of the transportmechanism described in FIGS. 10A-10B can be automatically adjusted usingan exemplified mechanism 501, shown in FIGS. 10C-10E. The hinge joint538 (of FIG. 10B) has a shaft 539 and a sleeve 540. A gear 581 isrigidly joined with the shaft 411 and the sleeve 540, and is concentricwith the sleeve 540 and the shaft 539, so the gear 581 can rotate aroundthe shaft 539. The shaft 411 has a hole so the sleeve 540 is positionedinside the hole. A plate 583 rigidly joins the shaft 539, the shaft 431,and the base of a motor 520. The motor 520 drives a gear 582 that isengaged with the gear 581, which rotates the gear 581 around the shaft539. The shafts 411, 431 and 439, and the shaft of the motor 520 haveparallel axes. The distance between the shaft 411 and the shaft 431, orequivalently, the radius of circular movement of the shaft 411 relativeto the support frame 492 (FIGS. 10A and 10B), can thus be adjusted.

The mechanism 501 in FIG. 10C-E, can also be added to the apparatus inFIGS. 1, 7A-7B, 8A-8B to control the radius of circular movement of ashaft of a first turning pair by a transport mechanism, e.g., thedistance between the axes of the shafts 111 and 131 in FIG. 1, thedistance between the axes of 211 and 231 in FIGS. 7A-7B, or the distancebetween the axes of 311 and 331 in FIGS. 8A-8B; or the radius ofcircular movement of a second turning pair in a stabilization mechanism,e.g., the distance between the axes of the shafts 221 and 241 in FIGS.7A-7B. An apparatus similar to 501 may be used to control the angle α inapparatus of 100B of FIG. 2, by requiring the shafts 411, 431, 439 and521 to have axes passing through the center point 650.

In FIG. 11, an automated cooking apparatus 600 includes a cooking pan608 of spherical shape mounted on a holder 691. A first turning pair610, as a first kinematic pair, has a shaft 611 and a sleeve 612 asmating parts. The sleeve 612 is connected with the holder 691. Atransport mechanism 639 includes a motor 632 mounted on a support frame692 and a rigid connector 633 joining the shaft 631 of the motor 632 andthe shaft 611. A stabilization mechanism 649 includes a turning pair 620(as a second kinematic pair) with shaft 621 whose sleeve 622 is joinedto the holder 691, a turning pair (a third kinematic pair) with a shaft641 in a sleeve 642, and a rigid connector 643 joining the shafts 621and 641. The sleeve 642 is mounted on the support frame 692. Thetransport mechanism 639 can produce a circular movement in the shaft611. The stabilization mechanism 649 allows a rotation of the shaft 621around the shaft 641. The axes of the shafts 611, 621, 631, 641 allintersect at the spherical center 650 of the spherical shaped cookingpan 608. The angle α between the axes of the shafts 611 and 631 issmaller than the angle between the axes of the shafts 621 and 641. Theshaft 631 can rotate continuously in one direction but the shaft 641 hasto rotate back and forth by less than 180 degrees. Thus, thestabilization mechanism 649 can limit the movement of the shaft 621,hence constraining the holder and the cooking pan's self-rotation aroundthe shaft 612. A stove 607 lies right below the cooking pan 608 and ismounted on the support frame 692. The angle between the axes of theshafts 611 and 631 is designed to be properly small. Then the cookingpan as a whole is displayed by a small distance and by a smallinclination change. On the other hand, the rotation speed of the motor632 can be properly large, as to produce a properly large accelerationin the movement of any point on the internal surface of the cooking pan.

Another apparatus can be built the same way as the apparatus 600 in FIG.11 simply by letting α and β be equal to each other. Then both theshafts 631 and 641 can rotate continuously in one direction or inmutually opposite directions; and the rotation of the shaft 641 must bein strict coordination of the rotation of the shaft 631 so that theangle between the axes of the shafts 611 and 621 stays unchanged. Inthis case, the mechanism 649 in the apparatus 600 can also be powered asto rotate the shaft 641, and thus becomes a transport mechanism. At thesame time, the turning pair 620 becomes a first kinematic pair. Itshould be further noted that a transmission or linkage mechanism canlink both transport mechanisms so they may be driven by a same motor.

FIG. 12 shows an automated cooking apparatus 601 similar to theapparatus 600 in FIG. 11. The angle α between the axes of the shafts 611and 631 can be controlled by adjusting the angle of the two sides ofconnector 635 at a hinge joint 636. Similarly, the angle β between theaxes of the shafts 621 and 641 can be adjusted by adjusting the angle ofthe two sides of connector 645 at a hinge joint 646. The axes of shafts611, 621, 631 and 641, and the axes of hinge joints 636 and 646 all passthrough the center 650.

In some embodiments, referring to FIGS. 13A-13B, an automated cookingapparatus 800 includes a cooking pan 109, a holder 891 which isconnected to a cooking pan 109. A first turning pair (as a firstkinematic pair) 810 includes a shaft 811 and a sleeve 812 as matingparts. The sleeve 812 is connected with the holder 891. A transportmechanism 839 includes a motor 832 mounted on a support frame 892 and aconnector 833 that rigidly connects the shaft 831 of the motor 832 andthe shaft 811. A stabilization mechanism consists of an elasticconnector 820 connecting the holder 891 to the support frame 892, as tolimit the self-rotation of the holder 891, and hence that of the cookingpan 109 around the shaft 811. The radius of circular movement of thetransport mechanism 839 is designed to be properly small by adjustingthe distance between the axes of the shafts 811 and 831. The cooking panas a whole is displayed by a small distance and by a small inclinationchange. On the other hand, the rotation speed of the motor 832 can beproperly large, as to produce a properly large acceleration in themovement of any point on the internal surface of the cooking pan.

It should be noted that the elastic connector 820 in the cookingapparatus may be substituted by any non-rigid connector, such as a looserope with ends tied to the holder 891 and the support frame 892, or aloose connector such as a chain with ends hooked to rings that arerespectively mounted on the holder 891 and on the support frame 892.

In some embodiments, FIG. 14 shows an automated cooking apparatus 800Bsimilar to 800, with a further frame 894 carrying a cooking pan 109, andan elastic connection comprising springs 871 joining the frame 894 andthe holder 891. A transport mechanism and stabilization mechanismidentical to that in the automated cooking apparatus 800 moves theholder 891. A vibration mechanism 870 is mounted on the frame 894 toproduce vibration in the cooking pan 109.

In some embodiments, FIGS. 15A-15D show an automated cooking apparatus900A in which a cooking pan can be moved by a transport mechanism tomake circular movement without any self-rotation relative to a supportframe. A cooking pan (not shown) can be attached to and above a holder991. A first turning pair, as a first kinematic pair, has a shaft 911and a sleeve 912 as mating parts, with the sleeve 912 connected to theholder 991. The cooking pan usually has a central axis coinciding withthe axis of the shaft 911 but this is not a requirement. A shaft 931 ofanother turning pair is rigidly connected with a gear 971 at top, and isalso rigidly connected to a support frame 992 at bottom (see FIG. 15C).The shaft 931 and the gear 971 are concentric. Referring to FIG. 15B, arigid plate 933 rigidly connects the shaft 911 on the top side, thesleeve 932 of the shaft 931 on the bottom side, and a shaft 937 of agear 972 on the top side. The gear 972 may rotate around the shaft 937.A third gear 973 is rigidly connected with, and concentric with sleeve912. All shafts and gears have parallel axes; and the axes of the shafts911, 931 and 937 have a same distance between each other. The gear 971is engaged with the gear 972, which in its turn is engaged with gear973, and all three gears have a same diameter, equal to the distancebetween the axis of the shaft 931 and the axis of the shaft 911. A motor(not shown) drives the rotation of the sleeve 932 (and hence of theplate 933 and the shaft 911) around the shaft 931. Thus the shaft 911can make a circular movement (around the shaft 931) relative to thesupport frame 992, moving the central axis of the cooking pan. As thegear 971 is rigidly joined with the support frame 992 via 931, the gear972 and hence the gear 973 rotate simultaneously with the circularmovement of the shaft 911 around the shaft 931, thus inducing asimultaneous relative rotation of the sleeve 912 around the shaft 911(it should be noted again that the sleeve 912 is rigidly joined with thegear 973). By a careful analysis, the holder 991 and the cooking pan(not shown) have to have zero self-rotation relative to the supportframe 992 at all times. Thus, the cooking pan makes a circular movementwith no self-rotation. The distance between the axes of the shafts 911and 931 can be designed to be properly small, so the cooking pan as awhole is displayed by a small distance and by a small inclinationchange. On the other hand, the rotation speed of the motor driving theaxial rotation of the sleeve 932 can be properly large, as to produce aproperly large acceleration in the movement of any point on the internalsurface of the cooking pan.

In some embodiments, FIG. 16 shows an automated cooking apparatus 900Bwith the same function as 900A but with the gear transmission replacedby a belt transmission. A cooking pan (not shown) can be attached to andabove a holder 991. A first turning pair (as a first kinematic pair) hasa shaft 911 and a sleeve 912 as mating parts, with the sleeve 912connected to the holder 991. The cooking pan usually has a central axiscoinciding with the axis of the shaft 911 but this is not a requirement.A rigid connector 953 rigidly connects the shaft 911 with the sleeve 952of a shaft 951 of a turning pair. The shaft 951 is mounted on a supportframe 992. A belt wheel 983 is rigidly joined with and concentric withthe sleeve 912. Another belt wheel 981 is rigidly joined with andconcentric with the shaft 951. The belt wheels 981 and 983 are coplanarand have identical radius. A synchronous belt 982 envelopes the beltwheels 981 and 983. The shafts 911 and 951, and hence the belt wheels983 and 981 have parallel axes. A motor (not shown) drives the rotationof the sleeve 952 (and hence of the connector 953 and the shaft 911)around the shaft 951. Thus the shaft 911 can make a circular movement(around the shaft 951) relative to the support frame 992, moving an axisof the cooking pan. As the belt wheel 981 is rigidly joined with thesupport frame 992 via 951, the belt wheel 983 and hence the sleeve 912rotate simultaneously with the circular movement of the shaft 911, thusinducing a simultaneous relative rotation of the sleeve 912 around theshaft 911. Under this mechanism, the holder 991 has to have noself-rotation relative to the support frame 992 during the circularmovement. The distance between the axes of the shafts 911 and 951 can bedesigned to be properly small, so the cooking pan as a whole isdisplayed by a small distance and by a small inclination change. On theother hand, the rotation speed of the motor driving the axial rotationof the sleeve 952 can be properly large, as to produce a properly largeacceleration in the movement of any point on the internal surface of thecooking pan.

In some embodiments, referring to FIGS. 17A-17B, an automated cookingapparatus 700 includes a cooking pan 109, a holder 791 which carries thecooking pan 109. A universal turning pair (as a first kinematic pair)710 has a ball 711 and a cap 712 as mating parts. The ball 711 isconnected with the holder 791. A transport mechanism 739 includes amotor 732 mounted on the support frame 792 and a rigid connector 733that connects the shaft 731 of the motor 732 and the sleeve 712. Astabilization mechanism 749 includes a turning pair (as a secondkinematic pair) 720 with a shaft 721 whose sleeve 722 is connected withthe holder 791, another turning pair (as a third kinematic pair) with ashaft 741 in a sleeve 742, and a connector 743 that rigidly connects theshafts 721 and 741. The sleeve 742 is mounted on the support frame 792.The distance from the center of the ball 711 to the axis of the shaft731 is smaller than the distance between the axes of the shafts 721 and741. The transport mechanism 739 can produce a circular movement in thecap 712. The stabilization mechanism 749 allows rotations of the shaft721 around the shaft 741 in a circular movement. The movement producedby the apparatus 700 is substantially the same as the apparatus 200 inFIGS. 7A-7B. The distance between the center of the ball 711 and theaxis of the shaft 731 can be designed to be properly small, so thecooking pan as a whole is displayed by a small distance and by a smallinclination change. On the other hand, the rotation speed of the motor732 can be properly large, as to produce a properly large accelerationin the movement of any point on the internal surface of the cooking pan.

In some embodiments, referring to FIG. 18, an automated cookingapparatus 1000B includes a holder 1091 that carries a cooking pan 109. Afirst turning pair (as a first kinematic pair) has a shaft 1011 and asleeve 1012 as mating parts; where the shaft 1011 is connected with theholder 1091, and the sleeve 1012 is rigidly connected with a frame 1032.A hinge joint 1030 connects the frame 1032 to a support frame 1092, sothe frame 1032 is constrained to rotate around the joint. A turning pair1033 consisting of a shaft and a sleeve connects the frame 1032 to oneend of a first connector 1034. The other end of the first connector 1034is connected with one end of a second connector 1036 via a turning pair1035 consisting of a shaft and a sleeve. The other end of the secondconnector is rigidly joined by the shaft 1037 of a motor 1038. Theturning pairs 1030, 1033, 1035 and the shaft 1037 have parallel axes;and the distance between the axes of the turning pair 1035 and the shaft1037 is shorter than the distance between the axes of the turning pairs1035 and 1033. As the motor rotates continuously, the turning pair 1035makes a circular movement, resulting in an oscillatory rotation of theframe 1032 around the shaft 1031. A belt wheel 1076 is mounted on theshaft 1011 and has the same axis as the shaft 1011. A motor 1071,mounted on the frame 1032, rotates another belt wheel 1075 that iscoplanar with the belt wheel 1076. A transmission belt 1074 envelopesaround the belt wheels 1075 and 1076. A computer 199 controls the motor1071 via a connector and also controls the motor 1039 via anotherconnector (not shown in figure). Thus the holder 1091 and the cookingpan 109 can be moved by a combination of a controlled oscillatorymovement and a controlled self-rotation. The distance between the axesof the shafts 1035 and 1037 can be designed to be properly small. Apoint of the internal surface of the cooking pan intersected with theaxis of the shaft 1011 may be a center point of the cooking pan. Thecenter point is therefore displaced by a properly small distance and bya small inclination change. On the other hand, the rotation speed of themotor 1039 can be properly large, as to produce a properly largeacceleration in the movement of any point on the internal surface of thecooking pan.

Usually the frequency of the self-rotation of the cooking pan around theshaft 1011 produced by the motor 1071 is much slower compared with thefrequency of the oscillation produced by the motor 1039. The rotationaloscillation produced by the motor 1039 can cause acceleration in thecooking pan for the purpose of stirring and mixing the food ingredientscontained in the cooking pan. The movement directions of the rotationaloscillations are constant (in time) relative to the support frame 1092,but are changing relative to the cooking pan due to the controlledself-rotation driven by the motor 1071. Thus, the food ingredients canbe evenly stirred and mixed without accumulation along any particulardirection. Moreover, the food ingredients are not accumulated in anyparticular area and thus have a balanced distribution in the cookingpan.

In some embodiments, referring to FIGS. 19A-19B, an automated cookingapparatus 1000C includes a holder 1091 which carries a cooking pan 109.A first turning pair (as a first kinematic pair) has a shaft 1011 and asleeve 1012 as mating parts. The shaft 1011 is connected with the holder1091; and the sleeve 1012 is rigidly connected with a frame 1042. Aturning pair 1050 has a shaft 1051 and a sleeve 1052, where the sleeve1052 is connected with the frame 1042 and the shaft 1051 is connectedwith a support frame 1094. The sleeve of a shaft 1043 in a turning pairis rigidly joined with the frame 1042. A first rigid connector 1044connects the shaft 1043 to a shaft 1045 in another turning pair. Asecond rigid connector 1046 connects the sleeve of the shaft 1045 to theshaft 1047 of a motor 1049. A third rigid connector 1056 rigidlyconnects the frame of the motor 1049 to the shaft 1055 of a second motor1054. The motor 1054 is mounted on the support frame 1094, and can driveand brake the rotation of the shaft 1055. All shafts 1051, 1043, 1045,1047 and 1055 have parallel axes; and the distance between the axes ofthe shafts 1045 and 1047 is shorter than the distance between the axesof the shafts 1045 and 1043. A belt wheel 1076 is mounted on the shaft1011 and is concentric with the shaft 1011. A motor 1071 mounted on theframe 1042 can rotate another belt wheel 1075 which is coplanar with thebelt wheel 1076. A transmission belt 1074 envelopes around the beltwheels 1075 and 1076. As the motor 1049 rotates, the shaft 1045 makes acircular movement around the shaft 1047, which in turn drives the frame1042 to oscillate around the shaft 1051, resulting in a rotationaloscillation in the shaft 1011 and hence in the cooking pan 1010. Themotor 1054 is used to position the motor 1049, as to adjust theamplitude of the oscillatory movement of the cooking pan. To achieve anoscillatory movement of fixed amplitude, the motor 1054 must be brakedso the motor 1049 would stay still relative to the support frame 1094.The distance between the axes of the shafts 1045 and 1047 can bedesigned to be properly small. Except the controlled rotation around thesleeve 1012 produced by the motor 1071, the cooking pan as a whole isdisplayed by a small distance and by a small inclination change. On theother hand, the rotation speed of the motor 1049 can be properly large,as to produce a properly large acceleration in the movement of any pointon the internal surface of the cooking pan.

It should be noted that in FIG. 19B, the shaft 1051 is visuallypositioned between the shaft 1011 and the shaft 1043. However this isnot a requirement.

In the cooking apparatus shown in FIG. 18 or 19A-19B, it is possible butnot required for the axis of the shaft 1011 to be a central axis of thecooking pan in a geometric or other sense.

In some embodiments, referring to FIG. 20, a cooking apparatus 1500Aincludes a holder 1591 carrying a cooking pan 109. A first turning pair1510 (as a first kinematic pair) with a shaft 1511 and a sleeve has thesleeve connected with the holder. A transport mechanism consists of afirst rigid connector 1530 joining the shaft 1511 with a shaft 1531 ofanother turning pair, a second rigid connector joining the sleeve of theshaft 1531 with the shaft 1533 of a motor 1534. The motor 1534 ismounted on a support frame 1592. The shafts 1511, 1531 and 1533 haveparallel axes; and the distance between the axes of the shafts 1531 and1533 is shorter than the distance between the axes of the shafts 1531and 1511. A stabilization mechanism consists of a sliding pair 1523 (asa second kinematic pair) with a sliding shaft 1524 and sleeve 1525,where the shaft 1523 is connected with the holder 1591, and the sleeveis rigidly connected with the support frame 1592. The axis of thesliding shaft 1524 is perpendicular to the axes of the shafts 1511, 1531and 1533. The stabilization mechanism allows the holder 1591 to make alinear movement relative to the support frame 1592. The motor 1533produces a circular movement in 1531 which oscillates the shaft 1511together with the holder 1591 and the cooking pan 109. The distancebetween the axes of the shafts 1531 and 1533 can be designed to beproperly small, so that the cooking pan as a whole is displayed by asmall distance and by no inclination change. On the other hand, therotation speed of the motor 1534 can be properly large, as to produce aproperly large acceleration in the movement of any point on the internalsurface of the cooking pan.

In some embodiments, referring to FIG. 21, a cooking apparatus 1500B isbuilt from the cooking apparatus 1500A by further adding an adjustmentmechanism. The cooking apparatus 1500B includes a holder 1591 carrying acooking pan 109. A first turning pair (as a first kinematic pair) 1510with a shaft 1511 and a sleeve where the sleeve is connected with theholder. A transport mechanism consists of a first rigid connector 1530joining the shaft 1511 with a shaft 1531 of another turning pair, asecond rigid connector joining the sleeve of the shaft 1531 with theshaft 1533 of a motor 1534. A rigid connector 1536 connects the base ofthe motor 1534 with the shaft 1537 of a second motor 1538; where themotor 1538 is mounted on a support frame 1592. The shafts 1511, 1531,1533 and 1537 have parallel axes; and the distance between the axes ofthe shafts 1531 and 1533 is shorter than the distance between the axesof the shafts 1531 and 1511. A computer (not shown in figure) controlsboth motors 1534 and 1538. The motor 1538 is capable of braking theshaft 1537 when needed. A stabilization mechanism consists of a slidingpair 1523 (as a second kinematic pair) with a sliding shaft 1524 andsleeve 1525, where the shaft 1524 is connected to the holder 1591, andthe sleeve is connected with the support frame 1592. The stabilizationmechanism allows the holder 1591 to make a linear movement relative tothe support frame 1592. The axis of the sliding shaft 1523 isperpendicular to the axes of the shafts 1511, 1531 and 1533. In case themotor 1538 brakes the shaft 1537, a continuous movement of the motor1534 produces a circular movement in the shaft 1531 which oscillates theshaft 1511 together with the holder 1591 and the cooking pan 109. Themotor 1538 is used to adjust the position of the motor 1534 and thusadjust the angle between the axis of the sliding shaft 1524 and theplane (visually a line in FIG. 21) containing the axes of both shafts1511 and 1533. The latter angle affects the amplitude of the oscillationof the shaft 1511 driven by the motor 1534. Thus the motor 1538 canchange the amplitude of the oscillations. The distance between the axesof the shafts 1531 and 1533 can be designed to be properly small, sothat the cooking pan as a whole is displayed by a small distance and byno inclination change. On the other hand, the rotation speed of themotor 1534 can be properly large, as to produce a properly largeacceleration in the movement of any point on the internal surface of thecooking pan.

In some embodiments, referring to FIG. 22, a cooking apparatus 1500Cincludes a holder 1591 carrying a cooking pan 109. A stabilizationmechanism consists of a turning pair (as a second kinematic pair) 1520with a shaft and a sleeve, wherein the shaft is rigidly connected withthe holder 1591 and the sleeve is rigidly connected with a support frame1593. The stabilization mechanism constrains the holder 1591 to rotatearound the turning pair 1520. A transport mechanism consists of a spring1550 joining the holder 1591 with the support frame 1593, an iron plate1551 mounted on the holder 1591, and an electric magnet with a built-indriver 1552 mounted on the support frame 1993. The electric magnet 1552applies a cyclic magnetic force on the iron plate 1551 to produce anoscillation in the iron plate. A computer 199 controls the driver of theelectric magnet through a connector 1553 so that the magnitudes andfrequencies of the oscillation can be adjusted. The magnitudes of theoscillation of the electric magnet 1552 can be properly small, so thatthe cooking pan as a whole is displayed by a properly small distance andby a small inclination change. The frequency of the oscillation can beproperly large, as to produce a properly large acceleration in themovement of the internal surface of the cooking pan.

In some embodiments, referring to FIGS. 23A-23B, an automated cookingapparatus 1200 includes a holder 1291 which carries a cooking pan 109. Astabilization mechanism consists of a turning pair 1250 (as a secondkinematic pair) with a shaft 1251 and a sleeve 1252, where the sleeve1252 is connected to the holder 1291, and the shaft 1251 is connectedwith a support frame 1292. A first turning pair 1210 (as a firstkinematic pair) consists of a shaft 1211 and a sleeve 1212 as matingparts. The sleeve 1212 is connected to the holder 1291. A transportmechanism consists of a first rigid connector 1244 connecting the shaft1211 with a shaft 1245 in another turning pair, a second rigid connector1246 connecting the sleeve of the shaft 1245 to the shaft 1247 of amotor 1249, a third rigid connector 1256 connecting the frame of themotor 1249 to the shaft 1255 of a second motor 1254. The motor 1254 ismounted on the support frame 1292. The motor 1254 can rotate the shaft1255 and is also capable of braking the shaft 1255. All shafts 1251,1211, 1245, 1247 and 1255 have substantially parallel axes, and thedistance between the axes of the shafts 1245 and 1247 is shorter thanthe distance between the axes of the shafts 1245 and 1211. As the motor1249 rotates, the shaft 1245 makes a circular movement around the shaft1247; which in turn drives the holder 1291 to rotate back and fortharound the shaft 1251, resulting in a rotational oscillation in thecooking pan 109. The motor 1254 is used to position the motor 1249, asto adjust the amplitude of the oscillatory movement produced by themotor 1249. To achieve an oscillatory movement of constant amplitude,the shaft 1255 must be applied a brake so the motor 1249 would staystill relative to the support frame 1292. The distance between the axesof the shafts 1245 and 1247 can be designed to be properly small, sothat the cooking pan as a whole is displayed by a small distance and bya small inclination change during the movement. On the other hand, therotation speed of the motor 1249 can be properly large, as to produce aproperly large acceleration in the movement of any point on the internalsurface of the cooking pan.

In some embodiments, referring to FIGS. 24A-24B, a cooking apparatus1100 includes a holder 1191 consisting of two heat insulating platesattached to a cooking pan 108. Two shafts 1111 of two first turningpairs (as first kinematic pairs) are aligned along a same axis. Theshafts 1111 are rigidly connected to the holder 1191. A frame 1194rigidly joins the sleeves of the shafts 1111 and the shafts 1121 of twoturning pairs. The shafts 1121 have a same axis. The sleeves of theshafts 1121 are rigidly connected with a support frame 1192. Anoscillation mechanism mounted on the frame 1194 may produce a rotationaloscillation of the shafts 1111 around their axis, and anotheroscillation mechanism mounted on the support frame 1192 may produce arotational oscillation of the shafts 1121 around their axis. Theoscillations mechanisms can be powered by a pair of electric motors thatare driven by drivers or controllers that produce some oscillatoryelectric currents for the motors, or by a pair of hydraulic, pneumatic,magnetic or other oscillators or vibrators (not shown in figure), and acomputer (not shown in figure) can be used to control the magnitudes andfrequencies of the oscillators. The magnitudes of the oscillationsproduced by both oscillation mechanisms can be designed to be properlysmall, so that the cooking pan as a whole is displayed by a smalldistance and by a small inclination change during the oscillatorymovements. On the other hand, the frequencies of the oscillations can beproperly large, as to produce properly fast accelerations in theinternal surface of the cooking pan. It should be noted that in thespecial case when the shafts 1111 and 1121 intersect at a point, thecooking pan makes spherical movements.

In some embodiments, FIGS. 25A-25B show a cooking apparatus 1101 that isbuilt from the apparatus 1100 in FIGS. 24A-24B by further adding twocrank-and-slider mechanisms as follows. One of the shafts 1111 isconnected to a shaft 1131 of a turning pair through a first rigidconnector 1130. A second rigid connector 1132 connects the sleeve of theshaft 1131 with the sleeve of a shaft 1133 in another turning pair. Athird rigid connector 1134 joins the shaft 1133 with the shaft 1135 of amotor 1138. The motor 1138 is mounted on the frame 1194. The shafts1111, 1131, 1133 and 1135 have parallel axes and the distance betweenthe axes of the shafts 1133 and 1135 is shorter than the distancebetween the axes of the shafts 1133 and 1131. The continuous rotation bythe motor 1138 results in a back-and-forth movement of the shaft 1131around the shaft 1111, thus oscillating the cooking pan relative to theframe 1194. Similarly, a fourth rigid connector 1140 connects one of theshafts 1121 and another shaft 1141 of a turning pair. A fifth rigidconnector 1142 connects the sleeve of the shaft 1141 with the sleeve ofa shaft 1143 of another turning pair. A sixth rigid connector 1144connects the shaft 1143 with the shaft 1145 of a motor 1148. The motor1148 is mounted on the support frame 1192. The shafts 1121, 1141, 1143and 1145 have parallel axes, and the distance between the axes of theshafts 1143 and 1145 is shorter than the distance between the shafts1143 and 1141. The circular movement of the shaft 1143 around the shaft1145 translates into a back-and-forth rotation of the shaft 1141 aroundthe shaft 1121, thus oscillating the frame 1194 around the shaft 1121. Acomputer may control the motors 1138 and 1148. When both motors makecontinuous rotations, the cooking pan is moved by a composition of tworotational oscillations. The distance between the axes of the shafts1133 and 1135 and the distance between the axes of the shafts 1143 and1145 can both be designed to be properly small, so that the cooking panas a whole is displayed by a small distance and by a small inclinationchange in the composition of oscillatory movements. On the other hand,the rotation speed of the motors 1138 and 1148 can be properly large, asto produce a properly large acceleration in the movement of any point onthe internal surface of the cooking pan.

It should be noted that a transport mechanism in apparatus 1101 consistsof: the turning pairs with shafts 1121, the frame 1194 which connectsthe sleeve of 1111 in the first turning pairs to the shafts 1121, theturning pairs with shafts 1141 and 1143, the rigid connectors 1140, 1142and 1144, and the motor 1148 with the shaft 1145. The transportmechanism moves the sleeve of the first turning pair 1110 in arotational oscillation. A powered mechanism consists of: the turningpairs with shafts 1131 and 1133, the connectors 1130, 1132 and 1134, andthe motor 1138 with the shaft 1135. The powered mechanism produces arelative oscillatory movement between the shaft 1111 and the sleeves1112 of the first turning pairs.

In some embodiments, FIG. 26 shows a cooking apparatus 1102 that isbuilt from the apparatus 1100 in FIGS. 24A-24B by adding twocrank-and-slider mechanisms that are mechanically linked and driven by asame motor. In addition to the exposition in FIGS. 24A-24B, a rigidconnector 1150 connects a shaft 1111 to a first mating part of auniversal joint 1181. A second rigid connector 1152 connects the secondmating part of the universal joint 1181 with a first mating part ofanother universal joint 1182. The second mating part of the universaljoint 1182 is rigidly joined with a shaft 1163 of a turning pair 1168.The center of the universal shaft 1182 is on the axis of the shaft 1163.A third rigid connector 1164 connects the shaft 1163 to the shaft 1165of a motor 1169. The motor 1169 is mounted on the support frame 1192.Similarly, a fourth rigid connector 1160 connects a shaft 1121 and ashaft 1161 of a turning pair. A fifth rigid connector 1162 connects thesleeve of the shaft 1161 with the sleeve of the shaft 1163 in theturning pair 1168. The shafts 1121, 1161, 1163 and 1165 have parallelaxes, and the distance between the axes of the shafts 1163 and 1165 isshorter than either the distance between the centers of the universaljoints 1181 and 1182 or the distance between the axes of the shafts 1163and 1161. A computer may control the motor 1169. The motor 1169 canproduce a circular movement in the shaft 1163, causing both the shafts1150 and 1160 to respectively oscillate around the shafts 1111 and 1121.The cooking pan is thus moved by a composition of two rotationaloscillations. The distance between the axes of the shafts 1163 and 1165can be designed to be properly small, so that the cooking pan as a wholeis displayed by a small distance and by a small inclination change inthe oscillatory movements. On the other hand, the rotation speed of themotors 1169 can be properly large, as to produce a properly largeacceleration in the movement of any point on the internal surface of thecooking pan.

Referring to FIG. 27A, an automated cooking apparatus 1300A includes acooking pan 109 mounted on a holder 1391, which can slide on a frame1394 along the X-axis via a sliding pair (as a first kinematic pair, notshown in figure) with two mating parts respectively connected to theholder 1191 and the frame 1394. The frame 1394 can slide on a supportframe 1392 along Y-axis via another sliding pair. A turning pair has ashaft 1331 and a sleeve as mating part, with the sleeve rigidlyconnected to the holder 1991. A first crank-and-slider mechanism (apowered mechanism) is composed of a first rigid connector 1332connecting the shaft 1331 and a shaft 1333 of another turning pair; anda second rigid connector 1334 connecting the sleeve of the shaft 1333and the shaft 1335 of a first motor (not shown in figure) that ismounted on the frame 1394. In some implementations, the axes of theshafts 1331, 1333 and 1335 can be all parallel, and perpendicular to theX axis. The distance between the axes of the shafts 1333 and 1335 isshorter than the distance between the shafts 1333 and 1331. The rotationof the shaft 1335 by the first motor produces a circular movement of theshaft 1333 and hence a linear oscillation of the holder 1391 relative tothe frame 1394, along the X-axis. A second crank-and-slider mechanism (atransport mechanism) is composed of a shaft 1341 of a turning pair whosesleeve is rigidly joined with the frame 1394; a rigid connector 1342connecting the shaft 1341 and a shaft 1343 in another turning pair; andanother rigid connector 1344 connecting the sleeve of the shaft 1343 andthe shaft 1345 of a second motor (not shown in figure) that is mountedon the support frame 1392. The axes of the shafts 1341, 1343 and 1345are all parallel, and perpendicular to the Y axis. The distance betweenthe axes of the shafts 1343 and 1345 is shorter than the distancebetween the shafts 1343 and 1341. The continuous rotation of the shaft1345 by the second motor (in the transport mechanism) produces acircular movement of the shaft 1343 and hence a linear oscillation ofthe frame 1394 relative to the support frame 1392, along the Y-axis.Thus, the cooking pan is moved by a composition of two oscillations,respectively along the X and Y axes. It is also possible to mechanicallylink the rotations of both crank-and-slider mechanisms so they aredriven by a same motor. The distance between the axes of the shafts 1333and 1335 and the distance between the axes of the shafts 1343 and 1345can both be designed to be properly small, so that the cooking pan as awhole is displayed by a small distance and by a small inclination changein the movement produced by the two oscillation mechanisms. On the otherhand, the speeds of the above two motors can be properly large, as toproduce a properly large acceleration in the movement of any point onthe internal surface of the cooking pan.

The movement paths of a point on the cooking pan 1309 in the automatedcooking apparatus 1300A relative to the support frame 1392 can berepresented by the following equations: X=A cos(ωt+η); Y=B sin(μt+δ)+b;where A is the distance between the axis of 1333 and the axis of 1335;and B is the distance between the axis of 1343 and the axis of 1345; ωand μ are respectively the frequencies of the rotation of shafts 1334and 1344 around their sleeves. The frequencies ω and μ can be the sameor different from each other. A computer (not shown in figure) may beconfigured to control the speeds of rotations of the motors and hencethe frequencies (ω, μ) in the oscillatory movements along the X and theY directions according to the cooking needs. In the special case whenthe initial phases at time t=0 are both zero, then the initialdisplacements of X and Y are respectively A+a and b. Examples of suchmovement paths are displayed in FIG. 27B. Furthermore, if the ratio ofthe frequencies ω to μ can be represented by a constant fraction, thetwo dimensional patterns for the movement path are referred to asLissajous patterns (or Lissajous orbits, or Lissajous curves). It shouldbe noted however that the presently disclosed automated cookingapparatus is not limited to a rational number for the ratio of thefrequencies (ω, μ). Lissajous patterns include familiar patterns such ascircles (A=B and ω=μ, ecliptics (ω=μ; A≠B).

The crank-and slider mechanisms in FIG. 27A may be replaced by otheroscillation mechanisms, such as magnetic, hydraulic or pneumaticoscillators.

In some embodiments, referring to FIG. 28, an automated cookingapparatus 1600A includes a holder 1691 carrying a cooking pan (not infigure) and a stabilization mechanism as follows. A shaft 1621 isrigidly joined with a shaft 1690 that is rigidly joined with the holder1691. Two sections of the shaft 1621 are in two sleeves 1622, so theshaft 1621 and each of the two sleeves are mating parts of a turningpair (a second kinematic pair). A ring shaped connector 1625 connectsthe sleeves 1622 with the two shafts 1623 of two turning pairs (thirdkinematic pairs). The shafts 1623 have a same axis. The sleeves 1624 ofthe shafts 1623 are rigidly joined with a support frame 1692. The shaft1690 or alternatively the holder 1691 may be moved by a transportmechanism (not shown in figure).

In some embodiments, referring to FIG. 29, an automated cookingapparatus 1600B is built from the apparatus 1600A in FIG. 28, by furtheradding a transport mechanism as follows. The bottom part of the shaft1690 is rigidly joined by the sleeve 1612 of a shaft 1611 in a turningpair. A connector 1632 rigidly connects the shaft 1611 with the shaft1633 of a motor 1634. The motor 1634 is mounted on the support frame1692. The shafts 1621, 1623, 1611 and 1633 are designed to intersect ata point. As the motor continuously rotate, the holder and the cookingpan can make a circular movement with constrained self-rotation. Theangle between the axes of the shafts 1611 and 1633 can be designed to beproperly small, so that the cooking pan as a whole is displayed by asmall distance and by a small inclination change in the oscillatorymovements. On the other hand, the rotation speed of the motors 1634 canbe properly large, as to produce a properly large acceleration in themovement of any point on the internal surface of the cooking pan.

It should be noted that the mechanism 501 in FIG. 10C may be modified toadjust the amplitude (angle) of the circular movement.

In some embodiments, referring to FIG. 30, an automated cookingapparatus 1600C is built from the apparatus 1600A in FIG. 28, by furtheradding a transport mechanism as follows. A magnet 1651 is fixedlyattached to the bottom end of the shaft 1690. A magnetic field generator1652 is mounted on the support frame 1692 to drive the movement of themagnet. A computer (not in figure) controls the magnetic field generator1652. As the magnetic field generated by the generator 1652 changes, themagnet 1651 is induced to move, thus moving the shaft 1690, the holder1691 and the cooking pan together with it. The magnitudes of themovement of the magnet 1651 by the magnetic field generator 1652 can bedesigned to be properly small, so that the cooking pan as a whole isdisplayed by a small distance and by a small inclination change in theoscillatory movements. On the other hand, the speed of the movement ofthe magnet 1651 can be designed to be properly large, as to produce aproperly large acceleration in the movement of any point on the internalsurface of the cooking pan.

It should be noted that the magnet 1651 in apparatus 1600C may besubstituted by an object or device that can be moved by a magneticfield. In particular, 1651 may be substituted by a second magnetic fieldgenerator. On the other hand, the pair 1651 and 1652 may be reversed,with the magnet 1651 joined with the support frame 1692, and themagnetic field generator 1652 joined with the shaft 1690.

It should also be noted that the magnetic field generator 1652 mayconsist of two or more wired electric magnets driven by separatemagnetic drivers. Different magnetic drivers can produce cyclicallychanging magnetic fields in different electric magnets, with differentdirections and magnitudes, and different frequencies. A computer orother adjustment mechanism connected to the drivers may be used todynamically adjust the directions, magnitudes and frequencies of themagnetic fields.

In some embodiments, referring to FIG. 31, an automated cookingapparatus 1600D is built from the apparatus 1600A in FIG. 28, by furtheradding a transport mechanism as follows. A pedal 1661 is fixedlyattached to the bottom end of the shaft 1690 and is immersed in a liquidin a container 1662. A mechanism (not shown in figure) produces a flowin the fluid, and thus moves the pedal 1661, the shaft 1690 and theholder 1691. The magnitudes of the movement of the pedal 1661 by thefluid flow can be designed to be properly small, so that the cooking panas a whole is displayed by a small distance and by a small inclinationchange in the oscillatory movements. On the other hand, the speed of themovement of the pedal 1661 can be designed to be properly large, as toproduce a properly large acceleration in the movement of any point onthe internal surface of the cooking pan.

It should be noted that the mechanism producing a flow in the fluid mayconsist two or more sources of fluid flow. Examples of such a sourceincludes: a rotating pedal immersed in the fluid and driven by a motor,or a mechanism that places cyclically changing pressures at a locationin the fluid, or a cyclic blower of gas into the fluid, etc. Differentcontrollers may be used to control the sources so the sources togethercan produce a combination of cyclic flows of different directions andmagnitudes, and different frequencies in the fluid. A computer or otheradjustment mechanism together with the controllers may be used todynamically adjust the directions, magnitudes and frequencies in thesources of the fluid flows.

It should be noted that the pedal 1661 can also be moved by gas flow orother non-contact forces through a medium. In some implementations, theliquid container or gas chamber 1662 may be designed to have acylindrical shape as to move the pedal in circular movement. A computermay be used to control the mechanisms or the sources that produce thefluid or gas flows.

In some embodiments, referring to FIGS. 32A-32B, an automated cookingapparatus 1600E is built from the apparatus 1600A in FIG. 28, by furtheradding a transport mechanism as follows. A hinge joint with a shaft 1611has a sleeve 1612 that is rigidly joined with the bottom part of theshaft 1690. Another shaft 1635 is rigidly joined with the shaft 1611. Asin the figure, the axes of the shafts 1635 and 1611 may make an angle,but this is not a requirement. The other end of the shaft 1635 is joinedto some ends of two rigid connectors 1636 by a hinge joint 1671consisting of a shaft rigidly joined to the connectors 1636 and a sleeverigidly joined to the shaft 1635. The other ends of the rigid connectors1636 are rigidly joined to the shaft of a hinge joint 1672 whose sleeveis rigidly joined to the shaft 1637 of a motor 1638. The motor 1638 ismounted on a frame 1680. The axes of the shafts 1611, 1621, 1623 and1637 are designed to meet at a point. The axes of the shafts 1611, 1635and 1637 are designed to be coplanar, and the axes of the hinge joints1671 and 1672 are designed to be perpendicular to the plane containingthe axes of the shafts 1611, 1635 and 1637. As the motor 1638 rotates,the connectors 1636 and the shafts 1635 and 1611 make a circularmovement around the axis of the shaft 1637, thus moving the shaft 1690and the holder 1691 in a circular movement. On the other hand, the frame1680 is connected to the support frame 1692 via some sliding pairsconsisting of sliding shafts 1681 and sleeves 1682 where the slidingshafts 1681 are rigidly joined with the frame 1680 and the sleeves 1682are rigidly joined with the support frame 1692. A two way motor 1685mounted on the support frame 1692 drives a helical-screw 1683 whosesleeve 1684 is rigidly joined with the frame 1680. The axes of themotors 1685, 1638 and the axes of the sliding shafts 1681 are parallelto each other. As the motor 1685 rotates the helical-screw 1683, thesleeve 1684, the frame 1680, the motor 1638 make a linear movement in adirection parallel to the axis of the shaft 1637 (or equivalently, theaxes of the shafts 1681). This moves the shaft 1637 and the hinge joint1672 along a direction parallel to the axis of the shaft 1637, and thusadjusts the angle between the axes of the shafts 1611 and 1637 via theconnectors 1636 and the hinge joint 1671. The latter angle determinesthe amplitude of the circular movement of the shaft 1611, and hence thatof the circular movements of the shaft 1690 and the holder 1691 producedby the motor 1638. In particular, the amplitude of the circular movementof the holder 1691 can be adjusted by the two way motor 1685. The anglebetween the shafts 1611 and 1637 can be designed to be properly small,so that the cooking pan as a whole is displayed by a small distance andby a small inclination change in the circular movements. On the otherhand, the rotation speed of the motor 1638 can be designed to beproperly large, as to produce a properly large acceleration in themovement of any point on the internal surface of the cooking pan.

In some embodiments, referring to FIG. 33A-33B, an automated cookingapparatus 700B includes a holder 793 which carries a cooking pan 109.Three universal turning pairs (as first kinematic pairs) 715, 716 and717 all have first mating parts rigidly connected to the holder, andsecond mating parts respectively joined to three iron plates 752, 762and 772. Three elastic connectors 751, 761 and 771 connect the secondmating parts of the turning pairs 715, 716 and 717 respectively to asupport frame 794. Electric magnets 753, 763 and 773 are rigidly mountedon the support frame 794 and can move the iron plates 752, 762 and 763respectively. Three magnetic drivers (not shown in figure) drive theelectric magnets 753, 763 and 763 to produce controlled oscillations inthe iron plates 752, 762 and 772. The movement directions of the threeelectric magnets are designed to be linearly independent, so the threeoscillations produce a three dimensional movement in the holder 793together with the cooking pan 109. A computer or other adjustmentmechanism together with the three magnetic drivers may be used todynamically change the magnitudes and frequencies of the oscillations ofthe three electric magnets. The magnitudes of the oscillatory movementscan be designed to be of proper size, so that the cooking pan as a wholeis displayed by a proper distance and by a small inclination change inthe oscillatory movements. On the other hand, the frequencies or speedsof the oscillations of the iron plates 752, 762 and 772 can be designedto be properly large, as to produce a properly large acceleration in themovement of any point on the internal surface of the cooking pan.

In some embodiments, referring to FIG. 34, an automated cookingapparatus 700C includes a holder 795 which carries a cooking pan 109.Three magnets 781 are connected with the holder 795. Three magneticfield generators 782 s are mounted on a support frame (not shown infigure), and can respectively move the magnets 781. The centers of themagnets 781, 782 and 783 are not positioned on a same line. Eachmagnetic field generator may consist one or more wired electric magnetswhich are driven by one or more drivers. Different drivers may drive theelectric magnets to produce cyclic magnetic fields with differentdirections, magnitudes and frequencies. A computer (not shown in figure)or other adjustment mechanism together with the drivers may be used todynamically change the directions, magnitudes and frequencies of themagnetic field generated by each electric magnet. The cooking pan isthen moved by a composition of oscillatory movements. The magnitudes ofthe movements of the magnets 781 can be designed to be properly small,so that the cooking pan as a whole is displayed by a small distance andby a small inclination change in the composition of oscillatorymovements. On the other hand, the speed of the movement of the magnets781 can be designed to be properly large, as to produce a properly largeacceleration in the movement of any point on the internal surface of thecooking pan.

It should be noted no stabilization mechanism is needed for the cookingapparatus 700C. Alternatively, another apparatus may be built from thecooking apparatus 700C by substituting one of the three magnetic fieldgenerators 782 by a permanent magnet. In this case, the other twomagnetic field generators 782 s can produce controlled movements in thecooking pan 109, while the permanent magnet substituting one of the 782s together with the respective magnet 781 may be used as a stabilizationmechanism.

In some embodiments, referring to FIG. 35, an automated cookingapparatus 700D is built from the apparatus 700C by further adding sixelastic connectors 785 connecting the holder 795 to the support frame796. The elastic connectors 785 are used to stabilize the cooking pan.

In some embodiments, referring to FIGS. 36A and 36B, an automatedcooking apparatus 1300 includes a cooking pan 109 mounted on a holder1391, which can slide on a frame 1394 along the X-axis via a slidingpair. The frame 1394 can slide on a support frame 1392 along Y-axis viaanother sliding pair. A two way motor 1319 whose base is mounted on theframe 1394, produces a rotation in a helical-screw mechanism 1318 thattranslates the rotation into a translational movement of 1391 along theX-axis direction. The frame 1394, in its turn, is moved along the Y-axisdirection relative to the support frame 1392, by a second helical-screwmechanism 1328, which is rotated by a two way motor 1321 mounted on thesupport frame 1392. The cooking pan 109 can thus be moved by acomposition of two linear oscillations, respectively along the X-axisand Y-axis. The motors 1311, 1321 are driven by drivers 1340 whichproduce oscillatory currents for the motors so the motors may rotateback and forth in oscillations. The drivers 1340 are controlled by acomputer 1350 which adjusts the magnitudes and frequencies of theoscillations. It is possible to mechanically link the rotations of thehelical-screw mechanisms 1318 and 1328 through a transmission mechanism,so they are driven by a same motor. The oscillations of the motors 1319and 1329 are designed to be of proper size, so the cooking pan as awhole is moved by a proper displacement and no inclination change at alltimes. On the other hand, the speed of the movement of the oscillationscan be designed to be properly large, as to produce a properly largeacceleration in the movement of any point on the internal surface of thecooking pan.

In some embodiments, referring to FIG. 37, an automated cookingapparatus 1700 includes a holder 1191 consisting of three heatinsulating plates attached to a cooking pan 108. Three turning pairs1710 (as first kinematic pairs) with shafts 1711 have their respectivesleeves 1712 connected to the three plates of the holder 1791 by threeelastic connectors 1714. Three turning pairs 1730 with shafts 1731 havetheir sleeves 1732 mounted on a support frame 1792. Three rigidconnectors 1733 connect the three shafts 1711 respectively to the threeshafts 1731. Three belt wheels 1737 are rigidly joined with the threeshafts 1731 respectively. Each belt wheel 1737 is concentric with ashaft 1731 and all three belt wheels 1737 are coplanar and have the samediameter. The axes of the shafts 1711 and 1731 are all parallel. Asynchronous belt 1736 envelops the three belt wheels 1737 so the threebelt wheels can rotate synchronously. A motor 1735 mounted on thesupport frame 1792 drives the rotation of a shaft 1731 (any one of thethree shafts 1731). As the motor 1735 rotates a shaft 1731, all threeshafts 1731 are rotated synchronously via the synchronous belt 1736,resulting in synchronous circular movements in the three shafts 1711,and a circular movement in the cooking pan 108 in combination withvibrations caused by the elastic connectors 1714. The distance betweenthe axis of a shaft 1711 and the respective shaft 1731 can be designedto be properly small, so that the cooking pan as a whole is displayed bya small distance and by a small inclination change at all times. On theother hand, the rotation speed of the motor 1735 can be designed to beproperly large, as to produce a properly large acceleration in themovement of any point on the internal surface of the cooking pan.

FIG. 38A is a schematic side view of an automated cooking apparatus 1400where a rotary vibration mechanism is built at the bottom center of acooking pan. A rotationally symmetric cooking pan 1409 with a verticalaxis is flexibly mounted on a support frame 1491 using springs 1471 andsome heat insulating boards 1492. The support frame 1491 has a shape ofa ring that is concentric with the cooking pan 1409. The externalsurface of the cooking pan 1409 has a cup-shaped recess at the center ofits bottom. A vibration mechanism 1452 is mounted in the cup-shapedrecess at the center of the cooking pan 1409. The vibration mechanism1452 includes a motor 1450 rotating some eccentric blocks 1451, and amotor driver 1461 which drives the motor 1450 via a connector 1462; anda computer (not shown in figure) controls the motor driver. The motor1450 can be a hydraulic motor, an air motor, an electric motor or othermotor; and the motor driver can be a hydraulic pump, an air pump, anelectric motor driver accordingly. When the motor 1450 rotates theunbalanced eccentric blocks 1451, a three dimensional vibration patternis produced in the cooking pan, thus stirring and mixing the foodingredients.

FIG. 38B displays a helical pattern of an exemplified movement path 1488in the food ingredients when the cooking pan is vibrated by themechanism in FIG. 38A.

FIG. 39B is a schematic side view of an automated cooking apparatus1400B similar to the apparatus 1400. A cooking pan 1408 is flexiblymounted on a support frame 1495 using springs 1471 and some heatinsulating boards 1492. The support frame 1495 has a top part in theshape of a ring that is concentric with the cooking pan 1409. Aconnector 1454 connects a vibration mechanism 1452 to the side wall ofthe cooking pan 1408. The vibration mechanism 1452 is positioned atbelow the center of the cooking pan, leaving a space between thevibration mechanism and the cooking pan so that a stove 1407 may bemounted on a bottom part of the support frame 1495, above the vibrationmechanism. The vibration mechanism includes a motor 1450 rotating someeccentric blocks 1451, and a motor driver 1461 which drives the motor1450 via a connector 1462. When the motor 1450 rotates the unbalancedeccentric blocks 1451, a three dimensional vibration pattern is producedin the cooking pan, thus stirring and mixing the food ingredients.

FIGS. 40A-40B respectively show a top and side view of an automatedcooking apparatus 1400C in which a cooking pan 1408 is flexibly mountedon a support frame 1491 using springs 1471 and some heat insulatingboards 1492. The support frame 1491 has a shape of a ring that isconcentric with the cooking pan 1408. Some vibration mechanisms 1480 aremounted on the side of the cooking pan 1408. Each vibration mechanism1480 includes elastic plates 1481 connecting the outer wall of thecooking pan with a frame 1482, an iron plate 1484 mounted on an elasticplate 1481, and an electric magnet 1485 mounted on the frame 1482. Theelectric magnet 1485 applies a variable force on the iron plate 1484 toproduce an oscillation in the iron plate. The electric magnet isconnected to a driver 1465 via a connector 1466. A computer 1464 islinked to the driver 1465. The vibration mechanisms 1480 can produce athree dimensional vibration pattern in the cooking pan, thus stirringand mixing the food ingredients.

It should be noted that the magnetic vibration mechanisms 1480 may bereplaced by other vibration mechanisms, such as electric, hydraulic,pneumatic mechanisms. The mechanisms in FIG. 39 and in FIGS. 40A-40B canproduce movement paths of similar helical patterns for the foodingredients as the one displayed in FIG. 38B.

It should be further noted that due to the cyclic or oscillatory natureof movements produced in support frames and the cooking pan in ourdisclosed cooking apparatus from FIG. 1 to FIG. 37, a degree ofvibration of similar geometric pattern exists in presently disclosedautomated cooking apparatus, thus producing helical or other regularmovements in food ingredients, similar to the pattern in FIG. 38B. Inaddition, these movements have the additional effect of making andmaintaining a consistent distribution of a balanced pattern in the foodingredients in the cooking pan, which is suitable for cooking. In caseof a round cooking pan, the distribution pattern can be an almostrotationally symmetric around the vertical axis of the cooking pan. Inparticular, the food ingredients are not pushed to a particular side ofthe cooking pan.

It should be noted that although the cooking pan in the cookingapparatus of FIG. 1 is visually centered at the axis of the shaft 111 ofthe turning pair 110, this is not a requirement. In fact, the center ofgravity of the cooking pan 109 may be positioned at some horizontaldistance away from the axis of the shaft 111. This applies to thecooking apparatus disclosed in FIGS. 2A-2B, 3A-3B, 4, 5A, 6A, 8A-8B,9A-9B, 10A-10B, 11, 12, 15A, 16, 17A-17B, 18, 19A-19B. Moreover, theholder, cooking pan and support frames can have different shapes, andthe transport or stabilization mechanism is not required be positionedat a height that is lower than the cooking pan. This remark applies toall the cooking apparatus disclosed above.

More automated cooking apparatus may be built using similar methods. Forexample, a holder of a cooking pan may be joined with the first matingpart of a curved sliding pair (as a first kinematic pair), and atransport mechanism can move the second mating part of the curvedsliding pair by an oscillation relative to a support frame. A poweredmechanism can drive a relative oscillation between the two mating partsof the curved sliding pair. The holder is thus moved by a combination oftwo oscillations.

In another example, a stabilization mechanism consists of a connectorjoining the first mating part of a planar pair (as a second kinematicpair) to a holder of a cooking pan, and another connector joining thesecond mating part of the planar pair. Two transport mechanisms usingmagnetic or other forces may produce a combination or two oscillationsor other movements in the holder.

In another example, a stabilization mechanism consists of three or moreelastic connectors connecting the holder of a cooking pan to a supportframe. One or more transport mechanisms may move the holder.

For the present patent application, the term “displacement” of a movingpoint is the distance between the position of the moving point and itsoriginal position before it is moved by the transport mechanism. Thepositions of a point before and after it is moved can be relative to asupport frame on which the automated cooking apparatus is mounted on. Ifthe support frame is moved but the point is not moved with respect tothe support frame, the displacement of the point relative to the supportframe is zero.

In the above described automated cooking apparatus, the internal surfaceof the cooking pan has a center point that is displaced by a properlysmall displacement during the movement produced by the transportmechanism. Indeed, in many of the above automated cooking apparatus,each point of the internal surface of the cooking pan (which is intendedto be in contact with food ingredients) is displaced by a properly smalldisplacement. It is not easy to quantify what is a properly smalldisplacement, as this may depend on the shape of cooking pan, theheater, the types of food ingredients, and styles of cooking. In anycase, the center point on the internal surface of the cooking pan can bedisplaced by less than a half the diameter of the heating source at alltimes. Since the diameter of a heating source can be about one half ofthe diameter of the cooking pan, the center point on the internalsurface of the cooking pan is required to be displaced by less than aquarter of the diameter of the cooking pan. An advantage of such adesign, besides the benefits of mixing and stirring and distributing thefood ingredients, is that the food ingredients may be heated by a sameheater in case the heater is fixed to a support frame. (It is howevernot a requirement that the heater be fixed to a support frame during thecooking process.) Compared with our apparatus, the rotating cylinderused as a cooking pan has a larger displacement, almost equal to thediameter of cooking pan, and the heating area of the cooking pan must bemuch larger.

If the automated cooking apparatus has an adjustment mechanism to adjustthe magnitude of the movements of the cooking pan produced by thetransport mechanism, the displacement of a center point on the internalsurface of the cooking pan (in the movement produced by the transportmechanism) can be adjusted between a lower bound and an upper bound. Forsuch a cooking apparatus, there is no need to restrict the upper boundat all. It is only required for the lower bound to be designed small (orto be zero).

A feature of the above automated cooking apparatus is that, the speedsof movements of any point of the internal surface of the cooking pan(which is intended to be in contact with food ingredients) can be madeproperly large without increasing the total displacement of the cookingpan or the total displacement of the second mating part of the firstkinematic pair. The directions of velocity vectors are changedfrequently, thus producing some properly big accelerations in theinternal surface of the cooking pan (more precisely, in the part of theinternal surface of the cooking pan that can be in contact with the foodingredients in the stirring and mixing process) as to stir, mix anddistribute the food ingredients contained in the cooking pan.

Another feature of the above automated cooking apparatus is that thepoints of the internal surface of the cooking pan that can be in contactwith food ingredients during the stirring and mixing process are evenlymoved. Except a possible phase difference, the magnitudes of theacceleration of a point on the internal surface of the cooking pan (thatcan be in contact with food ingredients during the mixing and stirringprocess) is comparable with the magnitude of the acceleration of anyother point on the internal surface of the cooking pan (that can be incontact with food ingredients during mixing and stirring process). Inparticular, all points on the internal surface of the cooking pan aremoved in the mixing and stirring process. Compared with our apparatusdisclosed above, the traditional transport mechanism that rotates acooking pan around a vertical axis of the cooking pan does not move thepoint of the cooking pan intersected with the vertical axis; nor can itmove the points of the internal surface of the cooking pan evenly, asthe points of the cooking pan near the rotation axis are barely moved.

Another feature of the above automated cooking apparatus js that theinclinations of any axis on the cooking pan is only displaced by a smallangle. Again, it is not easy to quantify what is perceived to be a smallangle, as it depends on the shape of the cooking pan, the heater, thefood ingredients and the style of cooking. We estimate the inclinationof any axis on the cooking pan is displaced by less than 60 degrees (infact much, much less, or no inclination change at all in manyapplications), but in no case equal to or more than 90 degrees. Comparedto our applications, the rolling cylinder used as a cooking pan canchange the inclination of an axis by 180 degrees, turning the axisupside down.

For the present patent application, the inclination angle of an axis isthe angle between the axis and the horizontal plane. In the apparatusdisclosed in FIGS. 1, 3-10B, 13A-16, 18-19B, the axis of the firstkinematic pair (also a turning pair) can be designed to be vertical, inwhich case the inclination angle of the axis is 90 degrees. In FIGS. 2,11-12, the angle of inclination of the axis of the first kinematic pair(a turning pair) can be designed to be close to 90 degrees, althoughthis is not a requirement. For the cooking apparatus in FIG. 17A-17B,the angle of inclination of the axis of the rotation of the first matingpart (a ball) relative to the second mating part (a cap or sleeve) canbe vertical, as the relative rotation is also constrained by thestabilization mechanism, In any case, if the axis of the first turningpair has an inclination angle larger than 45 degrees, then theinclination of any axis of the cooking pan is moved by less than 90degrees.

It should be noted that support frame of the above disclosed automatedcooking apparatus may be moved by a further transport mechanism,sometimes for purposes other than stirring, mixing and distributing thefood ingredients.

For the present patent application, the phrase “cooking apparatus” canmean an apparatus for cooking with a heat source (including but notlimited to: frying, steaming, boiling, roasting etc.), an apparatus formixing salad, or an apparatus for mixing cooked food. In case of mixingof salad or cooked food, or boiling noodle or dumplings, or steaming,the cooking pan may be substituted by any container of food or foodingredients. For the purpose of present patent application, a cookingpan is a special case of a container of food or food ingredients. Itshould be noted that the holders in above described cooking apparatuscan hold a container of food or food ingredients in different ways. Forexample, the container can be fixed to the holder by a mechanism(clamps, screws, etc.) or by a magnet. A holder can be formed by two ormore pieces that are separately connected to the container. A holder canbe made as a part of the container.

In some embodiments, the cooking pan is driven by a transport mechanismduring cooking to conduct pre-designed movements (e.g. oscillations,cyclic, etc.) that are capable of changing moving directions, of no lessthan 90 degrees (usually 180 or 360 degrees) in a fraction of a secondor less. (In fact, the speed of change in moving directions may besubstantially higher, depending on types of food ingredients, styles ofcooking or other factors.) The frequent changes of moving directionsaccompany accelerations in the cooking pan's motion. The frictionbetween the internal surface of the accelerated cooking pan and thenon-accelerated food ingredients, and the internal forces exerted on thefood ingredients by each other, together with gravitational or otherforces, can cause the food ingredients to stir, turn, flip, mix, orjump.

In some embodiments, the transport mechanism can be designed tofrequently move in a loop, back and forth on a line, on a planar orspatial curve, or in a somewhat random locus. The movements of thecooking pan that are frequent and have relatively small amplitudes canreplace the relatively less frequent and large amplitude stirringmechanisms using a spatula or like.

In one aspect, unlike some conventional automated cooking devices, it isnot necessary for the disclosed cooking apparatus to directly mimic themotions of the spatula in traditional cooking. Instead, the disclosedcooking apparatus achieve better mixing and more uniform cooking of thefood ingredients than manual cooking.

In some embodiments, the internal surface of the cooking pan (or othertype of container of food or food ingredients) can be further structuredas to effectively obstruct the food ingredients in motion for thepurpose of more robust stirring and mixing. The internal surface of thecooking pan can be rugged, textured, bumped, or have one or morebarriers built on or near it. Barriers can be constructed on theinternal surfaces of cooking pans. The barriers can have differentshapes and dimensions, and constructed at different positions in thecontainer. The barriers in the cooking pan can work in conjunction withthe other features disclosed above in relation to FIGS. 1-40. Otherdetails of the automated cooking system are disclosed in the commonlyassigned pending U.S. patent application Ser. No. 13/490,523, titled“Cooking system capable of automated stirring and mixing of foodingredients”, filed Jun. 18, 2012 by the same inventor, the disclosureof which is incorporated herein by reference.

While this document contains many specifics, these should not beconstrued as limitations on the scope of an invention that is claimed orof what may be claimed, but rather as descriptions of features specificto particular embodiments. Certain features that are described in thisdocument in the context of separate embodiments can also be implementedin combination in a single embodiment. Conversely, various features thatare described in the context of a single embodiment can also beimplemented in multiple embodiments separately or in any suitablesub-combination. Moreover, although features may be described above asacting in certain combinations and even initially claimed as such, oneor more features from a claimed combination can in some cases be excisedfrom the combination, and the claimed combination may be directed to asub-combination or a variation of a sub-combination.

Only a few examples and implementations are described. Otherimplementations, variations, modifications and enhancements to thedescribed examples and implementations may be made without deviatingfrom the spirit of the present invention. For example, the term cookingpan is used to generally refer to a device for containing foodingredients during cooking. Other words such as wok, cooking pot,cooking ware, etc. can also be used to describe the cooking device. Thecooking is also not limited to any particular ethnic styles such as stirfry, and the cooking of Asian, Mexican, Middle Eastern, or Europeanfood. In addition, the barriers and cooking pan can be selected to bestsuit the types of food ingredients and style of cooking.

Furthermore, the movements of the cooking pan or cooking pan can haveother configurations from the examples given above. For example, theradius of circular movements can vary depending on the types of foodingredients and style of cooking. Furthermore, the movements of any orall motors or mechanisms described above may be controlled by aprogrammed computer or controllers, according to the types of food.

What is claimed is:
 1. An automated cooking apparatus, comprising: acontainer configured to hold food or food ingredients; a holderconfigured to hold the container; a first kinematic pair comprising afirst mating part and a second mating part, wherein the first matingpart is connected to the holder; and a transport mechanism configured tomove the second mating part of the first kinematic pair, wherein thefirst kinematic pair and the transport mechanism in combination areconfigured to produce accelerations in the container to stir, mix anddistribute the food or food ingredients contained in the container andto produce a displacement in a center point of the container by lessthan a quarter of the diameter of the container.
 2. The automatedcooking apparatus of claim 1, wherein the first kinematic pair comprisesa turning pair.
 3. The automated cooking apparatus of claim 1, whereinthe first kinematic pair comprises a sliding pair.
 4. The automatedcooking apparatus of claim 1, wherein the first kinematic pair comprisesa universal joint.
 5. The automated cooking apparatus of claim 1,wherein the first mating part of the first kinematic pair is connectedto the holder via elastic or non-rigid connectors.
 6. The automatedcooking apparatus of claim 1, wherein the transport mechanism isconfigured to move the second mating part of the first kinematic pair ina circular or rotational movement.
 7. The automated cooking apparatus ofclaim 6, further comprising: an adjustment mechanism configured toadjust the radius of the circular or rotational movement of the secondmating part of the first kinematic pair.
 8. The automated cookingapparatus of claim 1, wherein the transport mechanism is configured tomove the second mating part of the first kinematic pair in a cyclicmovement, an oscillatory movement or a combination of oscillatorymovements.
 9. The automated cooking apparatus of claim 8, wherein thetransport mechanism is configured to move the second mating part of thefirst kinematic pair along a hypocycloid, or an epicycloid.
 10. Theautomated cooking apparatus of claim 1, further comprising: two or morefirst kinematic pairs and respective transport mechanisms; and atransmission or linkage mechanism configured to link the two or moretransport mechanisms so their produced movements are mechanicallylinked.
 11. The automated cooking apparatus of claim 1, furthercomprising: a powered mechanism configured to move the first mating partof the first kinematic pair relative to the second mating part; and acomputer configured to control the powered mechanism.
 12. The automatedcooking apparatus of claim 11, wherein the powered mechanism isconfigured to move the first mating part of the first kinematic pair byoscillations relative to the second mating part.
 13. The automatedcooking apparatus of claim 11, further comprising: a transmission orlinkage mechanism configured to link the movements produced by thepowered mechanism and the transport mechanism.
 14. The automated cookingapparatus of claim 1, further comprising a computer or an adjustmentmechanism configured to dynamically adjust the directions, magnitudesand speeds of the movements produced by the transport mechanism.
 15. Theautomated cooking apparatus of claim 1, further comprising: astabilization mechanism configured to constrain the movements of one ormore parts of the holder or one or more objects connected with theholder, wherein the first kinematic pair and the transport mechanism areconfigured to move the holder while the holder is constrained by thestabilization mechanism.
 16. The automated cooking apparatus of claim15, wherein the stabilization mechanism comprises: a second kinematicpair comprising a first mating part and a second mating part, whereinthe first mating part of the second kinematic pair is connected to theholder, and a constraining mechanism configured to constrain themovement of the second mating parts of the second kinematic pair. 17.The automated cooking apparatus of claim 16, further comprising: asupport frame, wherein the constraining mechanism comprises a thirdkinematic pair with a first mating part and a second mating part,wherein the first mating part of the third kinematic pair is connectedto the second mating part of the second kinematic pair, and wherein thesecond mating part of the third kinematic pair is connected to thesupport frame.
 18. The automated cooking apparatus of claim 16, whereinthe constraining mechanism comprises a connector configured to connectthe second mating part of the second kinematic pair to a support frame.19. The automated cooking apparatus of claim 15, wherein thestabilization mechanism comprises: a second object configured to beconnected to the holder; and a third object configured to be connectedto a support frame, wherein the second object interacts with the thirdobject by magnetic, pneumatic or hydraulic forces.
 20. The automatedcooking apparatus of claim 15, wherein the stabilization mechanismcomprises one or more elastic connectors, ropes, flexible connectorswith hooks, or non-rigid connectors configured to connect one or moreparts of the holder to a support frame.
 21. An automated cookingapparatus, comprising: a container configured to hold food or foodingredients; a holder configured to hold a container; and a transportmechanism mounted on a support frame, configured to move the holder oran object connected to the holder, wherein each point on the internalsurface of the container that can be in contact with the food or foodingredients is configured to be moved relative to the support frame,wherein a center point of the container is displaced by less than aquarter of the diameter of the container, wherein the transportmechanism is configured to move the holder or the object connected tothe holder, to produce accelerations in the container as to stir, mixand distribute the food or food ingredients contained in the container.22. The automated cooking apparatus of claim 21, wherein the transportmechanism configured to move the holder or an object connected to theholder by a cyclic movement, or an oscillatory movement, or acombination of oscillatory movements.
 23. The automated cookingapparatus of claim 21, wherein the transport mechanism is configured tomove a device connected to the holder by a magnetic force produced by asum of magnetic fields generated by one or more magnetic fieldgenerators, wherein the transport mechanism further comprises a driveror a mechanism configured to produce a cyclic or oscillatory changingpattern in each magnetic field generated by the magnetic fieldgenerators.
 24. The automated cooking apparatus of claim 21, wherein thetransport mechanism is configured to apply a pneumatic force to a deviceconnected to the holder through a gas flow generated by a combination offlow sources in a cyclic or oscillatory changing pattern, or a hydraulicforce through a fluid flow generated by a combination of flow sources ina cyclic or oscillatory changing pattern.
 25. The automated cookingapparatus of claim 21, wherein the transport mechanism comprises: afirst oscillation mechanism mounted on a first support frame configuredto produce an oscillatory movement in the holder relative to the firstsupport frame; a second support frame; and a second oscillationmechanism mounted on the second support frame configured to produce anoscillatory movement in the first support frame relative to the secondsupport frame, wherein the first oscillation mechanism and the secondoscillation mechanism in combination are configured to move the holderto produce fast enough accelerations in the holder and the container tostir, mix or distribute the food or food ingredients contained in thecontainer
 26. The automated cooking apparatus of claim 25, wherein thefirst oscillation mechanism and the second oscillation mechanism areconfigured to be mechanically linked.
 27. The automated cookingapparatus of claim 21, further comprising: a computer or an adjustmentmechanism configured to dynamically adjust the directions, magnitudesand speeds of the forces of the transport mechanism.
 28. The automatedcooking apparatus of claim 21, further comprising: a stabilizationmechanism configured to constrain a second part of the holder or asecond object connected to the holder, wherein the transport mechanismis configured to move the holder while the holder is constrained by thestabilization mechanism.
 29. The automated cooking apparatus of claim28, wherein the stabilization mechanism comprises: a second kinematicpair comprising a first mating part and a second mating part, whereinthe first mating part of the second kinematic pair is connected to theholder; and a constraining mechanism configured to constrain themovement of the second mating parts of the second kinematic pair. 30.The automated cooking apparatus of claim 29, wherein the constrainingmechanism comprises a third kinematic pair comprising a first matingpart and a second mating part, wherein the first mating part of thethird kinematic pair is connected to the second mating part of thesecond kinematic pair, and the second mating part of the third kinematicpair is connected to a support frame.
 31. The automated cookingapparatus of claim 29, wherein the constraining mechanism comprises aconnector configured to connect the second mating part of the secondkinematic pair to a support frame.
 32. The automated cooking apparatusof claim 28, wherein the stabilization mechanism comprises: a secondobject configured to be connected to the holder; and a third objectconfigured to be connected to a support frame, wherein the second objectis configured to interact with the third object by magnetic, pneumatic,or hydraulic forces.
 33. The automated cooking apparatus of claim 28,wherein the stabilization mechanism comprises one or more elasticconnectors, ropes, flexible connectors with hooks, or non-rigidconnectors configured to connect one or more parts of the holder to asupport frame.
 34. An automated cooking apparatus comprising: acontainer configured to hold food or food ingredients; a holderconfigured to hold the container; and a vibration mechanism configuredto produce vibrations in the container as to move the food or foodingredients in a helical pattern.
 35. An automated cooking apparatuscomprising: a container configured to hold food or food ingredients; aholder configured to hold the container; a rotational mechanismcomprising a first mating part and a second mating part and a connectionconfigured to constrain the relative movement of the two mating parts toa rotation, wherein the first mating part of the rotational mechanism isconfigured to be connected with the holder; a transport mechanismconfigured to move the second mating part of the rotational mechanism;wherein the rotational mechanism and the transport mechanism incombination are configured to move the holder and the container toproduce accelerations in the container to stir, mix and distribute thefood or food ingredients contained in the container, wherein the axis ofthe rotation of the first mating part of the rotational mechanism has aninclination angle larger than 45 degrees.
 36. The automated cookingapparatus of claim 35, wherein the mating parts of the rotationalmechanism are configured to be a shaft and a sleeve, wherein the axis ofthe shaft is configured to have an inclination angle larger than 45degrees.
 37. The automated cooking apparatus of claim 35, wherein thetransport mechanism is configured to move the second mating part of therotational mechanism in a circular or rotational movement.
 38. Theautomated cooking apparatus of claim 35, further comprising: anadjustment mechanism configured to adjust the radius of the circular orrotational movement of the second mating part of the rotationalmechanism produced by the transport mechanism.
 39. The automated cookingapparatus of claim 35, wherein the transport mechanism is configured tomove the second mating part of the rotational mechanism in a cyclicmovement, an oscillatory movement or a combination of oscillatorymovements.
 40. The automated cooking apparatus of claim 35, furthercomprising: a powered mechanism configured to move the first mating partof the rotational mechanism relative to the second mating part.
 41. Theautomated cooking apparatus of claim 40, further comprising: atransmission or linkage mechanism configured to link the movementsproduced by the powered mechanism and the transport mechanism.
 42. Theautomated cooking apparatus of claim 35, comprising two or morerotational mechanisms and respective transport mechanisms and furthercomprising a transmission or linkage mechanism configured to link thetwo or more transport mechanisms so their produced movements aremechanically linked.
 43. The automated cooking apparatus of claim 35,further comprising a computer or an adjustment mechanism configured todynamically adjust the directions, magnitudes and speeds of themovements produced by the transport mechanism.
 44. The automated cookingapparatus of claim 35, further comprising: a stabilization mechanismconfigured to constrain the movements of one or more parts of the holderor one or more objects connected with the holder, wherein the rotationalmechanism and the transport mechanism are configured to move the holderwhile the holder is constrained by the stabilization mechanism.
 45. Theautomated cooking apparatus of claim 44, wherein the stabilizationmechanism comprises: a second kinematic pair comprising a first matingpart and a second mating part, wherein the first mating part of thesecond kinematic pair is connected to the holder, and a constrainingmechanism configured to constrain the movement of the second matingparts of the second kinematic pair.
 46. The automated cooking apparatusof claim 45, wherein the constraining mechanism comprises a thirdkinematic pair with a first mating part and a second mating part;wherein the first mating part of the third kinematic pair is configuredto be connected to the second mating part of the second kinematic pairand the second mating part of the third kinematic pair is configured tobe connected to a support frame.
 47. The automated cooking apparatus ofclaim 44, wherein the stabilization mechanism comprises: a second objectconfigured to be connected to the holder; and a third object configuredto be connected to a support frame, wherein the second object isconfigured to interact with the third object by magnetic, pneumatic orhydraulic forces.
 48. The automated cooking apparatus of claim 44,wherein the stabilization mechanism comprises one or more elasticconnectors, ropes, flexible connectors with hooks, or non-rigidconnectors configured to connect one or more parts of the holder to asupport frame.
 49. The automated cooking apparatus of claim 35, whereinthe rotational mechanism comprises a configured to be a universal joint.50. An automated cooking apparatus, comprising: a container configuredto hold food or food ingredients; a holder configured to hold thecontainer; a stabilization mechanism comprising: a second kinematic paircomprising a first mating part and a second mating part, wherein thefirst mating part of the second kinematic pair is connected to theholder; and a third kinematic pair comprising a first mating part and asecond mating part, wherein the first mating part of the third kinematicpair is connected to the second mating part of the second kinematicpair; and a constraining mechanism configured to constrain the movementof the second mating part of the third kinematic pair; and a transportmechanism configured to move the holder, wherein the constrainingmechanism and the transport mechanism are configured to be mounted on asupport frame, wherein the transport mechanism is configured to producemovements and accelerations in the container to stir, mix and distributethe food or food ingredients contained in the container, wherein thestabilization mechanism is configured to limit the movement of thecontainer.
 51. The automated cooking apparatus of claim 50, wherein theconstraining mechanism comprises a connector configured to connect thesecond mating part of the third kinematic pair to the support frame. 52.The automated cooking apparatus of claim 50, wherein the transportmechanism comprises: a first kinematic pair with a first mating part anda second mating part, wherein the first mating part of the firstkinematic pair is connected to the holder; and a powered mechanismmounted on the support frame and configured to move the second matingpart of the first kinematic pair.
 53. The automated cooking apparatus ofclaim 52, wherein the powered mechanism is configured to move the secondmating part of the first kinematic pair in a circular or rotationalmovement.
 54. The automated cooking apparatus of claim 50, wherein thepowered mechanism is configured to move the second mating part of thefirst kinematic pair in a cyclic movement, an oscillatory movement or acombination of oscillatory movements.
 55. The automated cookingapparatus of claim 50, wherein the transport mechanism comprises: adevice connected to the holder; and a mechanism configured to move thedevice by magnetic, pneumatic, or hydraulic forces.